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Income Taxes - Reconciliation of Effective Income Tax Rate (Details)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Statutory tax rate	21.00%	21.00%	21.00%
State income taxes, net	1.20%	2.90%	0.90%
Foreign rate differential	(1.80%)	(0.10%)	(2.80%)
Foreign income inclusion	6.30%	4.90%	4.30%
Foreign tax credit	(3.60%)	(4.00%)	(3.50%)
Reserve for uncertain tax positions	2.10%	0.50%	0.10%
Impact on deferred taxes of enacted tax law and rate changes	0.10%	0.00%	0.00%
Tax credits and incentives	(2.40%)	(0.10%)	(0.10%)
Executive compensation	3.10%	0.20%	0.00%
Return to provision adjustments	0.80%	0.00%	1.30%
Other	(0.30%)	(0.50%)	(1.40%)
Effective tax rates	26.50%	24.80%	19.80%

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Effective Income Tax Rate Reconciliation, Foreign Income Inclusion, Percent

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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 income tax rates.

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