Income Taxes - Schedule of effective income tax rate reconciliation (Details)	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Income Tax Disclosure [Abstract]
U.S. federal statutory tax rate	21.00%	21.00%	21.00%
Stock-based compensation	(7.60%)	(2.50%)	(2.50%)
Income tax credits	(2.80%)	(4.60%)	(2.60%)
Taxation of non-U.S. operations	(1.80%)	(1.00%)	(1.90%)
Sale of non-inventory related assets between foreign subsidiaries	0.80%	0.00%	6.30%
Foreign-derived intangible income deduction	0.00%	(1.60%)	(1.00%)
Non-deductible Branded Prescription Drug Fee	0.50%	0.70%	0.60%
Impact of change in U.S. corporate tax rate (the Act)	0.00%	0.00%	(2.70%)
Other permanent differences	(0.70%)	0.90%	(0.30%)
Effective income tax rate	7.80%	12.90%	4.30%