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Income Taxes - Schedule of effective income tax rate reconciliation (Details) | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Income Tax Disclosure [Abstract] |  |  |
U.S. federal statutory tax rate | 21.00% | 21.00% | 21.00%
Taxation of non-U.S. operations | (5.50%) | (2.80%) | (1.80%)
Stock-based compensation | (2.90%) | (2.40%) | (7.60%)
Foreign-derived intangible income deduction | (1.00%) | (1.40%) | 0.00%
Income tax credits | (2.00%) | (1.00%) | (2.80%)
Sale of non-inventory related assets between foreign subsidiaries | 0.00% | 0.00% | (0.80%)
Other permanent differences | 1.10% | 0.00% | (0.20%)
Effective income tax rate | 10.70% | 13.40% | 7.80%

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