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Derivative Instruments and Hedging Activities - Summary of Cross Currency Swap Agreements (Details) - Cross-currency swap agreements
kr in Thousands, $ in Thousands
12 Months Ended
Dec. 31, 2019
USD ($)
Dec. 31, 2019
NOK (kr)
Derivative [Line Items]    
Fair Value / Carrying Amount of Asset (Liability) $ $ (42,104)  
NIBOR | 3.70% Margin    
Derivative [Line Items]    
Principal Amount $ $ 134,000 kr 1,000,000
Margin 3.70% 3.70%
Fixed Rate Payable 5.92% 5.92%
Fair Value / Carrying Amount of Asset (Liability) $ $ (20,665)  
Weighted- Average Remaining Term (years) 4 months 24 days  
NIBOR | 6.00% Margin    
Derivative [Line Items]    
Principal Amount $ $ 146,500 kr 1,200,000
Margin 6.00% 6.00%
Fixed Rate Payable 7.72% 7.72%
Fair Value / Carrying Amount of Asset (Liability) $ $ (10,532)  
Weighted- Average Remaining Term (years) 1 year 9 months 18 days  
NIBOR | 4.60% Margin    
Derivative [Line Items]    
Principal Amount $ $ 102,000 kr 850,000
Margin 4.60% 4.60%
Fixed Rate Payable 7.89% 7.89%
Fair Value / Carrying Amount of Asset (Liability) $ $ (10,907)  
Weighted- Average Remaining Term (years) 3 years 8 months 12 days