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Income Taxes - Effective Tax Rates (Details)
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Effective tax rate reconciliation      
Federal statutory rate 21.00% 21.00% 21.00%
State income taxes, net of federal income tax benefits 0.20% 0.50% 1.40%
Foreign rate differential, net of United States tax paid on foreign earnings (3.3%, 5.6%, and 2.3%, respectively) (9.50%) (8.30%) (5.50%)
Divestitures     2.40%
Change in Business Solutions permanent reinvestment assertion 1.90%    
Lapse of statute of limitations (0.50%) (0.70%) (0.50%)
Valuation allowances   0.20% 0.10%
Other 0.80% 0.20% 1.00%
Effective tax rate 13.90% 12.90% 19.90%
US tax paid on foreign earnings 3.30% 5.60% 2.30%