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Income Taxes - Effective Income Tax 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 corporate tax rate | 21.00% | 21.00% | 21.00%
Tax on international operations other than U.S. tax rate | (1.50%) | 1.90% | 1.20%
Adjustments to reserves for unrecognized tax benefits | 2.90% | 0.10% | 1.40%
U.S. tax on international earnings, net of foreign tax credits | (0.30%) | 0.30% | 0.40%
Foreign-Derived Intangible Income Deductions (FDII) | (2.10%) | (1.50%) | (1.10%)
State income taxes, net of federal tax effect | 1.00% | (0.10%) | 1.20%
U.S. research and development credits | (0.60%) | (0.40%) | (0.70%)
Excess tax benefits on share-based payments | (2.40%) | (4.20%) | (5.20%)
Royalty acceleration | 0.00% | (2.50%) | 0.00%
Pension settlement | (1.20%) | 0.00% | 0.00%
Tax on undistributed earnings of subsidiaries | 0.00% | (0.60%) | 0.10%
Other | 0.10% | 0.30% | (0.20%)
Effective tax rate | 16.90% | 14.30% | 18.10%

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