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Income Taxes - Reconciliation of statutory to effective income tax rate (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Effective Income Tax Rate Reconciliation, Amount [Abstract]
Federal Statutory Rate	21.00%	21.00%	21.00%
Permanent differences	1.10%	(15.20%)	(0.30%)
State taxes, net of Federal benefit	(0.10%)	0.10%	0.00%
Rate change	(0.30%)	0.40%	2.50%
Foreign earnings taxed at different rates than U.S.	2.00%	(0.80%)	(3.90%)
Valuation allowance	3.60%	(4.20%)	(15.90%)
Helguvik investment	0.00%	0.00%	26.40%
Foreign dividends and inclusions	(12.70%)	122.90%	(10.10%)
Net operating loss expiration and remeasurement	(8.00%)	43.10%	(5.20%)
Filing differences	0.60%	(19.10%)	(0.10%)
Changes in uncertain tax reserves	(1.30%)	(5.30%)	1.30%
Advanced Manufacturing Production Credit	18.60%	0.00%	0.00%
Other	(2.70%)	(0.90%)	(0.20%)
Effective tax rate	21.80%	142.00%	15.50%

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Effective Income Tax Rate Reconciliation, Foreign Dividends and Inclusions, Percentage

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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 valuation allowance for deferred tax assets.

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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 statutory income tax expense (benefit) outside of the country of domicile.

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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 nondeductible expenses.

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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 income tax contingencies. Includes, but not limited to, domestic tax contingency, foreign tax contingency, state and local tax contingency, and other contingencies.

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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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