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Income Taxes - Reconciliation of Effective Income Tax Rate (Details)
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Income Tax Disclosure [Abstract]      
Statutory tax rate 21.00% 21.00% 21.00%
Difference in effective tax rate on foreign earnings and remittances (6.90%) (6.80%) (6.10%)
Tax benefit from supply chain optimization (5.00%) (1.00%) (3.00%)
Unrecognized tax benefit, net of reversals 5.70% 3.40% 2.90%
U.S. tax reform 0 0 (0.018)
Deferred taxes on deemed repatriation (0.20%) 0.80% 10.10%
Global intangible low-taxed income 5.30% 0.00% 1.80%
U.S. foreign tax credit - general limitation (1.90%) (1.20%) (1.10%)
Acquisition costs 1.00% 0.50% 1.30%
Establishment (release) of valuation allowance on state deferred (0.40%) 1.70% (1.50%)
State and local taxes (0.60%) (0.80%) 0.60%
Other, net (1.20%) (0.20%) (0.10%)
Effective tax rate 16.80% 17.40% 24.10%