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Income Taxes - Effective Income Tax Rate Reconciliation from Continuing Operations (Details)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Effective income tax rate reconciliation from continuing operations:      
United States federal statutory rate 21.00% 21.00% 21.00%
State and local income taxes 1.20% 3.40% (0.70%)
Impact of change in tax contingencies 0.10% (0.70%) 1.50%
Foreign income tax rate differences (10.90%) 0.70% (27.90%)
Impact of change in deferred tax asset valuation allowance (2.50%) (19.10%) 3.00%
Domestic permanent differences and tax credits 6.30% 6.00% 25.50%
Impact of share-based compensation 0.40% 1.00% 1.00%
Impact of CARES act 0 0 (0.013)
Effective income tax rate reconciliation from continuing operations 15.60% 12.30% 22.10%