Income Taxes - Schedule of Effective Income Tax Reconciliation (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Federal statutory tax rate	21.00%	21.00%	21.00%
State taxes, net of federal benefit	0.30%	0.60%	0.80%
Foreign income tax rate differential	(0.60%)	(0.30%)	(0.30%)
U.S. tax on foreign earnings, net of credits	0.70%	1.90%	0.70%
Foreign derived intangible income deduction	(1.70%)	(1.40%)	(0.80%)
Tax credits	(6.00%)	(2.20%)	(6.40%)
Tax rate change	0.00%	0.00%	(3.50%)
Stock compensation (benefit), shortfalls and cancellations	(0.80%)	(0.80%)	0.00%
Uncertain tax positions	3.40%	2.70%	2.00%
Other	1.10%	0.00%	0.70%
Effective tax rate	17.40%	21.50%	14.20%