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Income Taxes - Effective Income Tax Reconciliation (Details) | 12 Months Ended
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Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Income Tax Disclosure [Abstract] |  |  |
U.S. federal corporate tax rate | 21.00% | 21.00% | 21.00%
Tax on international operations other than U.S. tax rate | 1.90% | 1.20% | 2.70%
Adjustments to reserves for unrecognized tax benefits | 0.10% | 1.40% | 0.40%
U.S. tax on international earnings, net of foreign tax credits | 0.30% | 0.40% | 0.40%
Foreign-Derived Intangible Income Deductions (FDII) | (1.50%) | (1.10%) | (0.60%)
State income taxes, net of federal tax effect | (0.10%) | 1.20% | 1.40%
U.S. research and development credits | (0.40%) | (0.70%) | (1.00%)
Excess tax benefits on share-based payments | (4.20%) | (5.20%) | (3.50%)
Royalty acceleration | (2.50%) | 0.00% | 0.00%
Tax on undistributed earnings of subsidiaries | (0.60%) | 0.10% | (0.20%)
Other | 0.30% | (0.20%) | (0.40%)
Effective tax rate | 14.30% | 18.10% | 20.20%

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