Income Taxes - Schedule of Difference Between Effective and Statutory (Details)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
U.S. federal income tax rate	21.00%	21.00%	21.00%
State taxes	0.70%	0.70%	1.00%
Stock-based compensation	2.00%	0.10%	(0.60%)
U.S. federal, state and foreign research and development credits	(5.10%)	(3.70%)	(4.40%)
Foreign earnings	(6.60%)	(7.30%)	(7.70%)
Nondeductible (nontaxable) foreign items	0.70%	0.00%	(0.40%)
Global intangible low-taxed income	2.50%	0.50%	0.60%
Release of uncertain tax position reserve	(0.70%)	(1.00%)	(0.90%)
Intercompany sale of intellectual property	4.00%	0.00%	0.20%
Valuation allowance	0.60%	0.60%	1.10%
Other	0.20%	(2.30%)	(2.40%)
Effective income tax rate	19.30%	8.60%	7.50%