Income Taxes - Schedule of Difference Between Effective and Statutory (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
U.S. federal income tax rate	21.00%	21.00%	21.00%
State taxes	1.00%	0.70%	0.70%
Stock-based compensation	3.60%	2.00%	0.10%
U.S. federal, state and foreign research and development credits	(4.70%)	(5.10%)	(3.70%)
Foreign earnings	(6.50%)	(6.60%)	(7.30%)
Nondeductible (nontaxable) foreign items	(0.20%)	0.70%	0.00%
Global intangible low-taxed income	1.10%	2.50%	0.50%
Release of uncertain tax position reserve	(0.40%)	(0.70%)	(1.00%)
Intercompany sale of intellectual property	0.60%	4.00%	0.00%
Valuation allowance	0.70%	0.60%	0.60%
Foreign-derived intangible income	(1.10%)	(0.80%)	(0.50%)
Other	1.20%	1.00%	(1.80%)
Effective income tax rate	16.30%	19.30%	8.60%