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Income Taxes (Reconciliation of U.S. Federal Tax to Effective Tax Rate) (Details) | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Effective tax rate reconciliation |  |  |
Statutory U.S. federal tax rate | 21.00% | 21.00% | 21.00%
Increase (decrease) in rate resulting from: |  |  |
State and local income taxes, net of related federal taxes | 2.90% | 2.40% | 2.50%
Effect of noncontrolling interest | (3.90%) | (3.90%) | (4.20%)
Derivative instruments and hedging activities | 0.00% | (1.30%) | 0.40%
U.S. income taxes on foreign earnings | 1.30% | (0.10%) | 0.70%
Nondeductible compensation | 0.90% | 1.20% | 1.90%
Unrecognized tax benefits | 4.70% | 8.00% | 2.10%
Foreign tax credits | (2.90%) | (2.10%) | (1.30%)
Research and development and other tax credits | (2.70%) | (7.00%) | (5.00%)
Other, net | 0.50% | 2.20% | 0.10%
Effective tax rate | 21.80% | 20.40% | 18.20%

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- Definition Percentage of current income tax expense (benefit) and deferred income tax expense (benefit) pertaining to continuing operations. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 740 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 12 -Publisher FASB -URI https://asc.fasb.org//1943274/2147482685/740-10-50-12 + Details
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- Definition 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. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Topic 740 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 12 -Publisher FASB -URI https://asc.fasb.org//1943274/2147482685/740-10-50-12 Reference 2: http://www.xbrl.org/2009/role/commonPracticeRef -Topic 740 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 6.I.Fact.4) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479360/740-10-S99-1 + Details
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