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Income Taxes - Effective Tax Rates (Details)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Effective tax rate reconciliation      
Federal statutory rate 21.00% 21.00% 21.00%
State income taxes, net of federal income tax benefits (0.10%) 0.20% 0.50%
Foreign rate differential, net of United States tax paid on foreign earnings (4.6%, 3.3%, and 5.6%, respectively) (8.30%) (9.50%) (8.30%)
Divestitures 5.60%    
Change in Business Solutions permanent reinvestment assertion   1.90%  
Lapse of statute of limitations (9.70%) (0.50%) (0.70%)
Valuation allowances 0.20%   0.20%
Other 1.00% 0.80% 0.20%
Effective tax rate 9.70% 13.90% 12.90%