Income Taxes - Reconciliation of Effective Income Taxes Rate (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Reconciliation of effective income taxes rate
Taxes at the U.S. statutory rate	21.00%	21.00%	21.00%
State income taxes, net of federal income tax benefit	(0.10%)	0.20%	4.30%
Non-U.S. earnings taxed at rates different than the U.S. statutory rate	(4.40%)	(3.20%)	3.10%
Foreign source earnings, net of associated foreign tax credits	2.70%	(0.60%)	0.10%
Benefit of tax credits	(2.40%)	(0.20%)	0.80%
Non-deductible expenses	0.90%	2.60%	(1.60%)
Stock compensation - excess tax benefits	(0.70%)	(0.20%)	0.70%
Adjustment to valuation allowances	1.20%	1.40%	(3.10%)
Change in unrecognized tax benefits	(0.20%)	(0.10%)	0.40%
Impacts of unremitted foreign earnings	2.00%	2.70%	(4.50%)
Release of disproportionate tax effects of OCI	0.00%	0.00%	8.80%
Excise tax paid upon U.S. pension termination	0.00%	1.80%	0.00%
Other	(0.50%)	0.80%	1.20%
Effective income tax rate	19.50%	26.20%	31.20%