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Income Taxes - Schedule of Effective Income Tax Rate Reconciliation, Income Tax expense (Benefit) (Details)	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Income Tax Disclosure [Abstract]
U.S. federal statutory income tax rate	21.00%	21.00%	21.00%
Impact of foreign operations	(5.40%)	(10.20%)	(11.60%)
U.S. state income taxes	6.40%	6.60%	6.40%
U.S. Tax Reform and related items			(385.10%)
Non-deductible indemnification costs	29.00%	28.00%	75.40%
Executive compensation over $1 million	2.50%	0.60%
Other non-deductible expenses	3.70%	2.90%
U.S. taxation of foreign earnings	3.50%	5.30%	6.00%
Tax credits	(0.20%)	(2.60%)	(2.10%)
Change in tax rates	1.30%	1.70%
All other items – net	1.80%	(4.70%)	0.60%
Effective income tax rate	63.60%	48.60%	(289.40%)

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Effective income tax rate reconciliation, nondeductible expense, executive compensation over $1 million, 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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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 attributable to changes in the income tax rates.

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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 state and local income tax expense (benefit), net of federal tax expense (benefit).

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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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