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Income Taxes - Schedule of effective income tax rate reconciliation (Details)	12 Months Ended
	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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- Definition

Effective Income Tax Rate Reconciliation, Deduction, Foreign Intangible Income, Percent

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

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-Publisher FASB
-Name Accounting Standards Codification
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-Section 50
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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 applicable to statutory income tax expense (benefit) outside of the country of domicile.

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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 other nondeductible expenses.

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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 tax credits. Including, but not limited to, research credit, foreign tax credit, investment tax credit, and other tax credits.

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