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Senior Notes - Summary of Senior Notes (Details) - USD ($)
$ in Millions
May 08, 2018
Jul. 14, 2010
May 2018 Senior Notes    
Debt Instrument [Line Items]    
Interest rate 5.25%  
Maturity date May 15, 2026  
Series E    
Debt Instrument [Line Items]    
Amount   $ 60.0
Interest rate   4.72%
Maturity date   Jul. 14, 2016
Series F    
Debt Instrument [Line Items]    
Amount   $ 72.0
Interest rate   5.04%
Maturity date   Jul. 14, 2017
Series G    
Debt Instrument [Line Items]    
Amount   $ 28.0
Interest rate   5.42%
Maturity date   Jul. 14, 2019
Series H    
Debt Instrument [Line Items]    
Amount   $ 85.0
Interest rate   5.59%
Maturity date   Jul. 14, 2020