Income Taxes, Tax Reconciliation and Tax Cuts and Jobs Act (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Effective tax rate reconciliation [Abstract]
Taxes at statutory rate	21.00%	21.00%	21.00%
State income taxes, net of federal income tax benefit	1.70%	3.00%	2.20%
Tax credits	(1.30%)	(1.40%)	(1.50%)
Taxes on foreign earnings	2.90%	4.70%	2.80%
Global Intangible Low-Taxed Income	0.40%	0.70%	0.10%
Foreign Derived Intangible Income	(1.00%)	(0.90%)	(1.10%)
Loss on balance sheet hedge	0.00%	0.70%	2.00%
Resolution of prior years' tax matters	(0.10%)	(0.40%)	(0.10%)
Valuation allowance adjustments	(2.70%)	(2.90%)	(3.70%)
Nondeductible compensation	1.90%	1.10%	0.00%
Other, net	(0.10%)	(1.00%)	(1.10%)
Effective tax rate	22.70%	24.60%	20.60%
Valuation Allowance [Abstract]
Valuation allowance	$ (28,073)	$ (34,242)