Income Taxes - Effective Income Tax Rate Reconciliation (Details)	12 Months Ended
Dec. 31, 2016	Dec. 31, 2015	Dec. 31, 2014
Income Tax Disclosure [Abstract]
Statutory U.S. federal tax rate	35.00%	35.00%	35.00%
Net difference resulting from:
Research and development tax credit	(4.00%)	(2.00%)	(3.00%)
Foreign earnings subject to different tax rates	(3.00%)	(3.00%)	(3.00%)
Tax on foreign intercompany dividends and deemed dividends for tax purposes	0.00%	6.00%	1.00%
Nondeductible expenses	0.00%	0.00%	1.00%
State income taxes	2.00%	2.00%	2.00%
Foreign tax credits	(1.00%)	(7.00%)	(2.00%)
Foreign withholding taxes	0.00%	1.00%	1.00%
Change in valuation allowance	0.00%	0.00%	(1.00%)
Other	(1.00%)	0.00%	0.00%
Total difference	(7.00%)	(3.00%)	(4.00%)
Effective income tax rate	28.00%	32.00%	31.00%

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Effective Income Tax Rate Reconciliation, Intercompany Dividends and Deemed Dividends For Tax Purposes, Percent

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

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

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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.

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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.

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