Income Taxes - Reconciliation of U. S. Federal Statutory Income Tax Rate to Actual Income Tax Rate (Details)	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Provision computed at statutory rate	21.00%	21.00%	21.00%
Remeasurement of deferred taxes	(0.40%)	(1.00%)	(0.60%)
Change in valuation allowance	0.10%	(0.10%)	0.10%
U.S. impact of Enterprise acquisition	0.40%	0.30%	0.30%
Change in contingent income tax reserves	(0.30%)	(0.20%)	(0.40%)
Foreign earnings subject to U.S. taxation	(3.50%)	(2.00%)	1.50%
Foreign rate differential	(3.40%)	(1.70%)	(5.50%)
State income tax, net of federal tax benefit	(0.50%)	0.30%	0.40%
Tax credits	(3.10%)	(2.00%)	(2.90%)
Equity compensation deductions	(0.10%)	(2.40%)	(3.20%)
Return to provision and other true ups	1.50%	(0.90%)	(2.50%)
Settlements with tax authorities	2.00%	0.00%	0.00%
Permanent differences and other	1.20%	2.20%	1.80%
Provision for income taxes	14.90%	13.50%	10.00%

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

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 740
-SubTopic 10
-Section 50
-Paragraph 12
-URI https://asc.fasb.org/extlink&oid=121826272&loc=d3e32687-109319

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Percentage of domestic federal statutory tax rate applicable to pretax income (loss).

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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 changes in the valuation allowance for deferred tax assets.

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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.

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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 expense for award under share-based payment arrangement. Excludes expense determined to be nondeductible upon grant or after for award under 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 applicable to state and local income tax expense (benefit), net of federal tax expense (benefit).

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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 income tax contingencies. Includes, but not limited to, domestic tax contingency, foreign tax contingency, state and local tax contingency, and other contingencies.

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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 income tax settlements. Including, but not limited to, domestic tax settlement, foreign tax settlement, state and local tax settlement, and other tax settlements.

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Effective Income Tax Rate Reconciliation, Foreign Earnings Subject To Domestic Income Tax, Percent

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Effective Income Tax Reconciliation, Impact of Acquisition Integration, Percent

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Effective Income Tax Reconciliation, Return to Provision and other True Ups, Percent

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