Income Taxes - Effective Income Tax Reconciliation (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Reconciliation of the U.S. federal statutory tax rate to the actual tax rate is as follows:
Statutory U.S. federal income tax rate	21.00%	21.00%	21.00%
State tax expense	1.80%	(0.90%)	1.50%
Foreign earnings at rates different than U.S. federal rate	3.40%	0.80%	(1.30%)
Foreign withholding taxes	3.10%	(1.70%)	(1.60%)
Valuation allowance adjustments	3.40%	6.30%	86.30%
Permanent items	(1.70%)	0.70%	(1.40%)
Earnings from consolidated subsidiaries	0	(0.043)	0.009
Tax benefits from intraperiod tax allocation to discontinued operations	0	(0.298)	0
Tax credits	(4.70%)	1.60%	2.40%
Impact of internal planning and restructuring	(6.40%)	0.00%	0.00%
Impact of Divestitures	(6.90%)	0.00%	0.00%
Other	(0.90%)	(1.70%)	0.60%
Effective income tax rate	12.10%	(8.00%)	108.40%