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Long-Term Debt - NOK Senior Unsecured Bonds - Additional Information (Details)
$ in Thousands, kr in Billions
12 Months Ended
Dec. 31, 2019
USD ($)
Dec. 31, 2019
NOK (kr)
Dec. 31, 2018
USD ($)
Debt Instrument [Line Items]      
Carrying amount of bonds $ 1,842,546   $ 1,987,558
Minimum      
Debt Instrument [Line Items]      
Basis spread on variable rate (as a percent) 0.30%    
Maximum      
Debt Instrument [Line Items]      
Basis spread on variable rate (as a percent) 3.25%    
Unsecured Debt      
Debt Instrument [Line Items]      
Senior unsecured bonds issued | kr   kr 3.1  
Carrying amount of bonds $ 347,163   $ 352,973
Unsecured Debt | Foreign Exchange Contract      
Debt Instrument [Line Items]      
Principal Amount $ $ 382,500    
Unsecured Debt | Minimum | Foreign Exchange Contract      
Debt Instrument [Line Items]      
Fixed interest rate 5.92% 5.92%  
Unsecured Debt | Maximum | Foreign Exchange Contract      
Debt Instrument [Line Items]      
Fixed interest rate 7.89% 7.89%  
Unsecured Debt | NIBOR | Minimum      
Debt Instrument [Line Items]      
Basis spread on variable rate (as a percent) 3.70%    
Unsecured Debt | NIBOR | Maximum      
Debt Instrument [Line Items]      
Basis spread on variable rate (as a percent) 6.00%