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Debt and Credit Agreements - Narrative (Details)
1 Months Ended 12 Months Ended
Apr. 22, 2019
USD ($)
Jan. 31, 2021
USD ($)
May 31, 2016
USD ($)
Sep. 30, 2014
USD ($)
Tranche
Investor
Dec. 31, 2010
USD ($)
Investor
Tranche
Jul. 31, 2008
USD ($)
Tranche
Investor
Dec. 31, 2020
USD ($)
fiscal_period
Dec. 31, 2019
USD ($)
Dec. 31, 2018
USD ($)
Debt Instrument [Line Items]                  
Debt maturities, due in 2021             $ 188,000,000.0    
Debt maturities, due in 2023             62,000,000.0    
Debt maturities, due in 2024             575,000,000.0    
Repayments of debt             283,000,000 $ 102,000,000 $ 455,000,000
Deferred financing costs capitalized             $ 3,076,000 3,975,000  
Unamortized discount               3,400,000  
6.51% Weighted-average Senior Notes                  
Debt Instrument [Line Items]                  
Weighted-average interest rate             6.51%    
Long-term debt             $ 37,000,000 124,000,000  
5.58% Weighted-average Senior Notes                  
Debt Instrument [Line Items]                  
Weighted-average interest rate             5.58%    
Long-term debt             $ 175,000,000 175,000,000  
3.65% Weighted-average Senior Notes                  
Debt Instrument [Line Items]                  
Weighted-average interest rate             3.65%    
Long-term debt             $ 925,000,000 925,000,000  
Revolving Credit Facility                  
Debt Instrument [Line Items]                  
Minimum required asset coverage ratio             1.75    
Fiscal quarters for reduction in coverage ratio | fiscal_period             4    
Minimum required annual coverage ratio             2.8    
Maximum borrowing capacity on line of credit $ 3,200,000,000                
Remaining borrowing capacity on line of credit $ 1,500,000,000           $ 1,500,000,000    
Minimum current ratio             1.0    
Long-term debt             $ 0 $ 0  
Interest rate             4.00% 6.30%  
Subsequent Event | 6.51% Weighted-average Senior Notes                  
Debt Instrument [Line Items]                  
Amount of principal repurchased   $ 88,000,000.0              
Weighted-average interest rate   5.58%              
Senior Notes                  
Debt Instrument [Line Items]                  
Minimum required asset coverage ratio             1.75    
Fiscal quarters for reduction in coverage ratio | fiscal_period             4    
Minimum required annual coverage ratio             2.8    
Senior Notes | 6.51% Weighted-average Senior Notes                  
Debt Instrument [Line Items]                  
Principal           $ 425,000,000.0      
Number of institutional investors | Investor           41      
Number of debt tranches | Tranche           3      
Repayments of debt             $ 388,000,000.0    
Senior Notes | 5.58% Weighted-average Senior Notes                  
Debt Instrument [Line Items]                  
Principal         $ 175,000,000.0        
Number of institutional investors | Investor         8        
Number of debt tranches | Tranche         3        
Senior Notes | 3.65% Weighted-average Senior Notes                  
Debt Instrument [Line Items]                  
Principal       $ 925,000,000.0          
Number of institutional investors | Investor       24          
Number of debt tranches | Tranche       3          
Revolving Credit Facility                  
Debt Instrument [Line Items]                  
Long-term debt             $ 0    
Deferred financing costs capitalized               $ 7,400,000  
Senior Notes | 6.51% Weighted-average Senior Notes                  
Debt Instrument [Line Items]                  
Amount of principal repurchased     $ 64,000,000.0            
Repayments of debt     68,300,000            
Tranche 1 | Senior Notes | 6.51% Weighted-average Senior Notes                  
Debt Instrument [Line Items]                  
Principal           $ 245,000,000      
Tranche 1 | Senior Notes | 5.58% Weighted-average Senior Notes                  
Debt Instrument [Line Items]                  
Principal         $ 88,000,000        
Tranche 1 | Senior Notes | 3.65% Weighted-average Senior Notes                  
Debt Instrument [Line Items]                  
Principal       $ 100,000,000          
Tranche 1 | Senior Notes | 6.51% Weighted-average Senior Notes                  
Debt Instrument [Line Items]                  
Amount of principal repurchased     8,000,000.0            
Tranche 2 | Senior Notes | 6.51% Weighted-average Senior Notes                  
Debt Instrument [Line Items]                  
Principal           100,000,000      
Tranche 2 | Senior Notes | 5.58% Weighted-average Senior Notes                  
Debt Instrument [Line Items]                  
Principal         25,000,000        
Tranche 2 | Senior Notes | 3.65% Weighted-average Senior Notes                  
Debt Instrument [Line Items]                  
Principal       575,000,000          
Tranche 2 | Senior Notes | 6.51% Weighted-average Senior Notes                  
Debt Instrument [Line Items]                  
Amount of principal repurchased     13,000,000.0            
Tranche 3 | Senior Notes | 6.51% Weighted-average Senior Notes                  
Debt Instrument [Line Items]                  
Principal           $ 80,000,000      
Tranche 3 | Senior Notes | 5.58% Weighted-average Senior Notes                  
Debt Instrument [Line Items]                  
Principal         $ 62,000,000        
Tranche 3 | Senior Notes | 3.65% Weighted-average Senior Notes                  
Debt Instrument [Line Items]                  
Principal       $ 250,000,000          
Tranche 3 | Senior Notes | 6.51% Weighted-average Senior Notes                  
Debt Instrument [Line Items]                  
Amount of principal repurchased     $ 43,000,000.0            
External Credit Rating, Non Investment Grade | Minimum | Revolving Credit Facility                  
Debt Instrument [Line Items]                  
Commitment fee percentage 30.00%                
External Credit Rating, Non Investment Grade | Minimum | Revolving Credit Facility | ABR Loans                  
Debt Instrument [Line Items]                  
Basis spread on variable rate 50.00%                
External Credit Rating, Non Investment Grade | Minimum | Revolving Credit Facility | LIBOR Loans                  
Debt Instrument [Line Items]                  
Basis spread on variable rate 150.00%                
External Credit Rating, Non Investment Grade | Maximum | Revolving Credit Facility                  
Debt Instrument [Line Items]                  
Commitment fee percentage 42.50%                
External Credit Rating, Non Investment Grade | Maximum | Revolving Credit Facility | ABR Loans                  
Debt Instrument [Line Items]                  
Basis spread on variable rate 125.00%                
External Credit Rating, Non Investment Grade | Maximum | Revolving Credit Facility | LIBOR Loans                  
Debt Instrument [Line Items]                  
Basis spread on variable rate 225.00%                
External Credit Rating, Investment Grade | Minimum | Revolving Credit Facility                  
Debt Instrument [Line Items]                  
Commitment fee percentage 12.50%                
External Credit Rating, Investment Grade | Minimum | Revolving Credit Facility | ABR Loans                  
Debt Instrument [Line Items]                  
Basis spread on variable rate 12.50%                
External Credit Rating, Investment Grade | Minimum | Revolving Credit Facility | LIBOR Loans                  
Debt Instrument [Line Items]                  
Basis spread on variable rate 112.50%                
External Credit Rating, Investment Grade | Maximum | Revolving Credit Facility                  
Debt Instrument [Line Items]                  
Commitment fee percentage 27.50%                
External Credit Rating, Investment Grade | Maximum | Revolving Credit Facility | ABR Loans                  
Debt Instrument [Line Items]                  
Basis spread on variable rate 75.00%                
External Credit Rating, Investment Grade | Maximum | Revolving Credit Facility | LIBOR Loans                  
Debt Instrument [Line Items]                  
Basis spread on variable rate 175.00%