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Debt - Senior Unsecured Notes Payable (Details) - USD ($)
9 Months Ended
Jun. 01, 2020
May 10, 2017
Sep. 30, 2020
Sep. 30, 2019
Dec. 31, 2019
Debt Instrument [Line Items]          
Gross proceeds from issuance of senior notes     $ 0 $ 200,000,000  
Senior unsecured notes payable          
Debt Instrument [Line Items]          
Debt instrument face amount     $ 300,000,000   $ 300,000,000
Senior unsecured notes payable | 5.25% Senior Notes due 2025          
Debt Instrument [Line Items]          
Debt instrument face amount   $ 300,000,000.0      
Interest rate (percent)   5.25%      
Gross proceeds from issuance of senior notes   $ 300,000,000.0      
Net proceeds from issuance of senior notes   $ 294,000,000.0      
Redemption price, percentage upon change of control (percent) 101.00%