Income Taxes - Reconciliation (Details)	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Reconciliation of United States federal statutory rate to effective income tax rate
Statutory tax rate (as a percent)	21.00%	21.00%	21.00%
Foreign tax rate differential	5.20%	5.20%	4.90%
Permanent differences	1.10%	1.20%	2.00%
U.S. tax on foreign earnings	(0.10%)	1.60%	0.30%
Stock compensation	0.60%	(2.50%)	(0.70%)
Mandatory repatriation	0.00%	0.00%	0.50%
Tax contingencies	3.30%	2.60%	1.40%
Change in tax rates	0.10%	(0.10%)	0.10%
Withholding taxes	0.00%	0.00%	(0.10%)
Repatriation of foreign earnings	0.20%	0.40%	0.60%
State income taxes, net of federal benefits	0.20%	(0.40%)	(0.60%)
Tax credits	(2.10%)	(0.90%)	(1.20%)
Other	0.10%	1.20%	(0.70%)
Change in valuation allowance for unbenefited losses	(0.10%)	0.20%	1.00%
Effective tax rate	28.10%	28.70%	28.50%

Effective income tax rate reconciliation US tax on foreign earnings.

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The portion of the difference between the effective income tax rate and domestic federal statutory income tax rate attributable to income tax withheld from employees' wages and paid directly to the government by the employer.

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Percentage of current income tax expense (benefit) and deferred income tax expense (benefit) pertaining to continuing operations.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
-SubTopic 10
-Section 50
-Paragraph 12
-URI https://asc.fasb.org/extlink&oid=121826272&loc=d3e32687-109319

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- Definition

Percentage of domestic federal statutory tax rate applicable to pretax income (loss).

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Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
-SubTopic 10
-Section S99
-Paragraph 1
-Subparagraph (SAB Topic 6.I.Fact.4)
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-Name Accounting Standards Codification
-Topic 235
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-Section S99
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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to changes in the valuation allowance for deferred tax assets.

+ References

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
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-Topic 740
-SubTopic 10
-Section S99
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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations applicable to statutory income tax expense (benefit) outside of the country of domicile.

+ References

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
-SubTopic 10
-Section 50
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Percentage of difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying domestic federal statutory income tax rate to pretax income (loss) from continuing operation, attributable to nondeductible expense for share-based payment arrangement.

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Percentage of the difference, between reported income tax expense (benefit) and the expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations, that is attributable to tax exempt income, equity in earnings (loss) of an unconsolidated subsidiary, minority interest income (expense), tax holiday, disposition of a business, disposition of an asset, repatriation of foreign earnings, repatriation of foreign earnings jobs creation act of 2004, change in enacted tax rate, prior year income taxes, change in deferred tax asset valuation allowance, and other adjustments.

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations applicable to state and local income tax expense (benefit), net of federal tax expense (benefit).

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to income tax contingencies. Includes, but not limited to, domestic tax contingency, foreign tax contingency, state and local tax contingency, and other contingencies.

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