Income Taxes - Reconciliation (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
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	3.50%	5.20%	5.20%
Permanent differences	2.80%	1.10%	1.20%
U.S. tax on foreign earnings	1.00%	(0.10%)	1.60%
Stock compensation	(0.30%)	(0.60%)	(2.50%)
Tax contingencies	0.00%	3.30%	2.60%
Change in tax rates	0.10%	0.10%	(0.10%)
Repatriation of foreign earnings	0.30%	0.20%	(0.40%)
State income taxes, net of federal benefits	(0.60%)	0.20%	(0.40%)
Research and development credits	(2.00%)	(2.10%)	(0.90%)
Tax impact on bargain purchase gain	(5.60%)
Other	0.10%	(0.10%)	1.20%
Change in valuation allowance for unbenefited losses	1.30%	(0.10%)	0.20%
Effective tax rate	21.60%	28.10%	28.70%