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Income Taxes - Major Jurisdictions No Longer Subject to Audit (Details)
 9 Months Ended
Sep. 30, 2020
U.S. federal  
Income Tax Examination [Line Items]  
Years no longer subject to audit 2010 and prior
California (U.S.)  
Income Tax Examination [Line Items]  
Years no longer subject to audit 2008 and prior
Germany  
Income Tax Examination [Line Items]  
Years no longer subject to audit 2014 and prior
Japan  
Income Tax Examination [Line Items]  
Years no longer subject to audit 2013 and prior
South Korea  
Income Tax Examination [Line Items]  
Years no longer subject to audit 2014 and prior
United Kingdom  
Income Tax Examination [Line Items]  
Years no longer subject to audit 2015 and prior