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Income Taxes - Reconciliation of Effective Income Tax Rate (Details)
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Reconciliation of Effective Income Tax Rate      
Statutory U.S. tax rate 21.00% 21.00% 35.00%
State income taxes--net of federal benefit 0.50% 1.00% 0.80%
International income taxes - net 0.20% 0.20% (6.30%)
Global Intangible Low Taxed Income (GILTI) 1.80% 1.10%  
Foreign Derived Intangible Income (FDII) (2.90%) (1.30%)  
U.S. TCJA enactment - net impacts   0.025 0.101
U.S. research and development credit (1.70%) (1.50%) (0.70%)
Reserves for tax contingencies 2.30% 1.20% 2.20%
Domestic Manufacturer's deduction     (1.80%)
Employee share-based payments (1.30%) (1.40%) (3.20%)
All other--net (0.10%) 0.60% (0.60%)
Effective worldwide tax rate (as a percent) 19.80% 23.40% 35.50%