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Income Taxes - Effective Tax Rates (Details)
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Effective tax rate reconciliation      
Federal statutory rate 21.00% 21.00% 21.00%
State income taxes, net of federal income tax benefits 0.30% (0.10%) 0.20%
Foreign rate differential, net of United States tax paid on foreign earnings (3.0%, 4.6%, and 3.3%, respectively) (8.50%) (8.30%) (9.50%)
Divestitures 0.50% 5.60%  
Change in Business Solutions permanent reinvestment assertion     1.90%
Lapse of statute of limitations (0.80%) (9.70%) (0.50%)
Valuation allowances 0.70% 0.20%  
Uncertain tax positions 2.30% (0.70%) 1.70%
Other 0.60% 1.70% (0.90%)
Effective tax rate 16.10% 9.70% 13.90%