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Fair Value of Financial Assets and Liabilities - Schedule of Estimated Fair Value and Carrying Value of Assets and Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2020
Dec. 31, 2019
Carrying value of asset (liability) | Level 1    
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]    
Cash and cash equivalents $ 128,878 $ 129,005
Restricted Cash 84 93
Carrying value of asset (liability) | Level 2    
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]    
Derivative instruments 109 636
Derivative instruments (23,434) (2,371)
Carrying value of asset (liability) | Level 2 | Floating rate debt    
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]    
Long-term debt (1,120,172) (487,381)
Carrying value of asset (liability) | Level 2 | Fixed rate debt    
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]    
Long-term debt (281,307) (291,468)
Fair value asset (liability) | Level 1    
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]    
Cash and cash equivalents 128,878 129,005
Restricted Cash 84 93
Fair value asset (liability) | Level 2    
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]    
Derivative instruments 109 636
Derivative instruments (23,434) (2,371)
Fair value asset (liability) | Level 2 | Floating rate debt    
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]    
Long-term debt (1,135,616) (491,654)
Fair value asset (liability) | Level 2 | Fixed rate debt    
Fair Value, Investments, Entities that Calculate Net Asset Value Per Share [Line Items]    
Long-term debt $ (306,621) $ (294,263)