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Senior Notes - Summary of Senior Notes (Details) - USD ($)
$ in Millions
Dec. 06, 2019
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
December 2019 Senior Notes      
Debt Instrument [Line Items]      
Interest rate 4.00%    
Maturity date Jun. 15, 2028