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Income Taxes - Effective Income Tax Rate (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Tax at statutory rate	21.00%	21.00%	21.00%
Increases (decreases) in the tax rate from:
State and local taxes, net of federal benefit	2.40%	2.40%	2.20%
Effect of foreign operations	(10.90%)	(4.90%)	(6.30%)
Effect of changes in valuation allowances	(0.20%)	(1.20%)	(4.50%)
Excess tax benefits on share-based compensation	1.00%	1.10%	1.80%
Share-based payments	0.10%	(0.40%)	(0.90%)
Research and development credit	(1.30%)	(1.50%)	(1.40%)
Other, net	(0.50%)	0.10%	0.60%
Effective income tax rate	11.60%	16.60%	12.50%

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- Definition

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 difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying domestic federal statutory income tax rate to pretax income (loss) from continuing operation, attributable to nondeductible expense for share-based payment arrangement.

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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 other adjustments.

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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 state and local income tax expense (benefit), net of federal tax expense (benefit).

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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 research tax credit.

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