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Income Taxes - Reconciliation of Statutory Federal Income Tax Rate (Details)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Income Tax Disclosure [Abstract]      
Statutory federal income tax rate 21.00% 21.00% 21.00%
State income taxes, net of federal effect 2.50% 1.60% 2.00%
Foreign tax law changes 0.00% 8.00% 2.80%
Foreign derived intangibles income deduction (0.90%) (3.10%) (3.20%)
Excess tax benefit from share-based awards (0.80%) (2.20%) (3.90%)
Sale of businesses and subsidiary restructuring (2.20%) (2.10%) 0.70%
Unrecognized tax benefits (0.50%) (2.70%) (1.00%)
Nondeductible executive compensation 0.40% 0.70% 2.00%
Valuation allowance (0.50%) (1.30%) (1.70%)
Other, net (0.10%) 1.90% (2.00%)
Effective income tax rate 18.90% 21.80% 16.70%