Income Taxes - Schedule of effective income tax rate reconciliation (Details)	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Income Tax Disclosure [Abstract]
U.S. federal statutory tax rate	21.00%	21.00%	35.00%
Income tax credits	(4.60%)	(2.60%)	(1.30%)
Stock-based compensation	(2.50%)	(2.50%)	(9.00%)
Foreign-derived intangible income deduction	(1.60%)	(1.00%)	0.00%
Taxation of non-U.S. operations	(1.00%)	(1.90%)	0.70%
Non-deductible Branded Prescription Drug Fee	0.70%	0.60%	1.70%
Sale of non-inventory related assets between foreign subsidiaries	0.00%	(6.30%)	0.00%
Impact of change in U.S. corporate tax rate (the Act)	0.00%	(2.70%)	15.70%
Domestic production activities deduction	0.00%	0.00%	(2.60%)
Other permanent differences	0.90%	(0.30%)	2.10%
Effective income tax rate	12.90%	4.30%	42.30%