Income Taxes - Schedule of effective income tax rate reconciliation (Details)	12 Months Ended
Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Income Tax Disclosure [Abstract]
U.S. federal statutory tax rate	21.00%	21.00%	21.00%
Taxation of non-U.S. operations	(2.80%)	(1.80%)	(1.00%)
Stock-based compensation	(2.40%)	(7.60%)	(2.50%)
Foreign-derived intangible income deduction	(1.40%)	0.00%	(1.60%)
Income tax credits	(1.00%)	(2.80%)	(4.60%)
Sale of non-inventory related assets between foreign subsidiaries	0.00%	(0.80%)	0.00%
Other permanent differences	0.00%	(0.20%)	1.60%
Effective income tax rate	13.40%	7.80%	12.90%

Effective Income Tax Rate Reconciliation, Deduction, Foreign Intangible Income, Percent

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Effective Income Tax Rate Reconciliation, Sale Of Non-Inventory Related Assets Between Foreign Subsidiaries, Percent

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Percentage of current income tax expense (benefit) and deferred income tax expense (benefit) pertaining to continuing operations.

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-Publisher FASB
-Name Accounting Standards Codification
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Percentage of domestic federal statutory tax rate applicable to pretax income (loss).

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Reference 1: http://www.xbrl.org/2003/role/disclosureRef
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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations applicable to statutory income tax expense (benefit) outside of the country of domicile.

+ References

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
-SubTopic 10
-Section 50
-Paragraph 12
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Percentage of difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying domestic federal statutory income tax rate to pretax income (loss) from continuing operation, attributable to nondeductible expense for share-based payment arrangement.

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Percentage of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to tax credits. Including, but not limited to, research credit, foreign tax credit, investment tax credit, and other tax credits.

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