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Income Taxes - Reconciliation (Details)
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Reconciliation of United States federal statutory rate to effective income tax rate        
Statutory tax rate (as a percent) 21.00% 21.00% 21.00% 35.00%
Foreign tax rate differential 4.90% 5.90% 4.60%  
Permanent differences 1.60% 1.10% 0.70%  
Mandatory Repatriation 0.50% (0.60%) 1.70%  
Tax contingencies 1.40% 1.40% 0.90%  
Change in tax rates 0.10% 0.30% 1.10%  
Withholding taxes (0.10%) (0.10%) 0.10%  
Repatriation of foreign earnings (0.60%) (0.30%) (4.90%)  
State income taxes, net of federal benefits (0.60%) 0.70% (0.40%)  
Purchase accounting     0.10%  
Tax credits (0.60%) (0.60%)    
Other (1.30%)   0.60%  
Change in valuation allowance for unbenefitted losses 1.00%   0.50%  
Effective tax rate 28.50% 29.40% 26.00%