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Debt and Credit Agreements - Narrative (Details)
1 Months Ended 3 Months Ended 9 Months Ended
Sep. 22, 2020
USD ($)
Nov. 15, 2019
USD ($)
Jan. 05, 2016
USD ($)
Nov. 30, 2019
USD ($)
Dec. 31, 2017
USD ($)
Sep. 30, 2020
USD ($)
Sep. 30, 2019
USD ($)
Sep. 30, 2020
USD ($)
Sep. 30, 2019
USD ($)
Dec. 26, 2017
USD ($)
Debt Instrument [Line Items]                    
Debt issuance costs incurred and capitalized               $ 550,000 $ 0  
Amortization of debt issuance costs               754,000 1,718,000  
Letter of Credit | Wells Fargo Bank                    
Debt Instrument [Line Items]                    
Maximum borrowing capacity     $ 10,000,000.0              
Swing Line Loan | Wells Fargo Bank                    
Debt Instrument [Line Items]                    
Maximum borrowing capacity     10,000,000.0              
Line of Credit                    
Debt Instrument [Line Items]                    
Debt issuance costs incurred and capitalized               550,000    
Amortization of debt issuance costs           $ 200,000 $ 600,000 700,000 1,700,000  
Interest expense           $ 300,000 $ 800,000 $ 500,000 $ 3,000,000.0  
Line of Credit | Wells Fargo Securities, Citizens Bank and JP Morgan Chase Bank                    
Debt Instrument [Line Items]                    
Debt issuance costs incurred and capitalized $ 600,000     $ 2,300,000            
Line of Credit | Wells Fargo Securities, Citizens Bank and JP Morgan Chase Bank | Minimum                    
Debt Instrument [Line Items]                    
Commitment fee rate on undrawn commitments   0.15%                
Line of Credit | Wells Fargo Securities, Citizens Bank and JP Morgan Chase Bank | Maximum                    
Debt Instrument [Line Items]                    
Commitment fee rate on undrawn commitments   0.30%                
Line of Credit | Wells Fargo Securities, Citizens Bank and JP Morgan Chase Bank | LIBOR                    
Debt Instrument [Line Items]                    
Spread on variable interest rate   1.00%                
Line of Credit | Wells Fargo Securities, Citizens Bank and JP Morgan Chase Bank | LIBOR | Minimum                    
Debt Instrument [Line Items]                    
Spread on variable interest rate   1.25%                
Line of Credit | Wells Fargo Securities, Citizens Bank and JP Morgan Chase Bank | LIBOR | Maximum                    
Debt Instrument [Line Items]                    
Spread on variable interest rate   2.00%                
Line of Credit | Wells Fargo Securities, Citizens Bank and JP Morgan Chase Bank | Federal Funds                    
Debt Instrument [Line Items]                    
Spread on variable interest rate   0.50%                
Line of Credit | Wells Fargo Securities, Citizens Bank and JP Morgan Chase Bank | LIBOR Plus 1.00% | Minimum                    
Debt Instrument [Line Items]                    
Spread on variable interest rate   0.25%                
Line of Credit | Wells Fargo Securities, Citizens Bank and JP Morgan Chase Bank | LIBOR Plus 1.00% | Maximum                    
Debt Instrument [Line Items]                    
Spread on variable interest rate   1.00%                
Line of Credit | Secured Credit Facility | Wells Fargo Bank                    
Debt Instrument [Line Items]                    
Maximum borrowing capacity     $ 400,000,000.0              
Line of Credit | Secured Credit Facility | Wells Fargo Bank | LIBOR | Interest Rate Option One | Minimum                    
Debt Instrument [Line Items]                    
Spread on variable interest rate     1.50%              
Line of Credit | Secured Credit Facility | Wells Fargo Bank | LIBOR | Interest Rate Option One | Maximum                    
Debt Instrument [Line Items]                    
Spread on variable interest rate     2.25%              
Line of Credit | Secured Credit Facility | Wells Fargo Bank | LIBOR | Interest Rate Option Two | Minimum                    
Debt Instrument [Line Items]                    
Spread on variable interest rate     0.50%              
Line of Credit | Secured Credit Facility | Wells Fargo Bank | LIBOR | Interest Rate Option Two | Maximum                    
Debt Instrument [Line Items]                    
Spread on variable interest rate     1.25%              
Line of Credit | Secured Credit Facility | Wells Fargo Bank | Federal Funds | Interest Rate Option Two                    
Debt Instrument [Line Items]                    
Spread on variable interest rate     0.50%              
Line of Credit | Revolving Credit Facility                    
Debt Instrument [Line Items]                    
Balance transfer   $ 80,000,000.0                
Line of Credit | Revolving Credit Facility | Wells Fargo Bank                    
Debt Instrument [Line Items]                    
Maximum borrowing capacity     $ 200,000,000.0             $ 315,000,000.0
Term of debt instrument     5 years              
Debt issuance costs incurred and capitalized         $ 2,100,000          
Line of Credit | Revolving Credit Facility | Wells Fargo Bank | Minimum                    
Debt Instrument [Line Items]                    
Commitment fee rate on undrawn commitments     0.20%              
Line of Credit | Revolving Credit Facility | Wells Fargo Bank | Maximum                    
Debt Instrument [Line Items]                    
Commitment fee rate on undrawn commitments     0.35%              
Line of Credit | Revolving Credit Facility | Wells Fargo Securities, Citizens Bank and JP Morgan Chase Bank                    
Debt Instrument [Line Items]                    
Maximum borrowing capacity   $ 500,000,000.0                
Term of debt instrument   5 years                
Line of Credit | Revolving Credit Facility | Wells Fargo Securities, Citizens Bank and JP Morgan Chase Bank | Calendar Quarters Up To and Including March 31, 2021                    
Debt Instrument [Line Items]                    
Maximum secured net leverage ratio 3.50                  
Line of Credit | Revolving Credit Facility | Wells Fargo Securities, Citizens Bank and JP Morgan Chase Bank | Calendar Quarters After March 31, 2021                    
Debt Instrument [Line Items]                    
Maximum secured net leverage ratio 3.00                  
Line of Credit | Term Loan Facility                    
Debt Instrument [Line Items]                    
Balance transfer   $ (80,000,000.0)                
Line of Credit | Term Loan Facility | Wells Fargo Bank                    
Debt Instrument [Line Items]                    
Maximum borrowing capacity     $ 200,000,000.0              
Term of debt instrument     5 years              
Line of Credit | Letter of Credit | Wells Fargo Securities, Citizens Bank and JP Morgan Chase Bank                    
Debt Instrument [Line Items]                    
Maximum borrowing capacity   15,000,000.0                
Line of Credit | Swing Line Loan | Wells Fargo Securities, Citizens Bank and JP Morgan Chase Bank                    
Debt Instrument [Line Items]                    
Maximum borrowing capacity   25,000,000.0                
Line of Credit | Incremental Loan Facility | Wells Fargo Securities, Citizens Bank and JP Morgan Chase Bank                    
Debt Instrument [Line Items]                    
Maximum borrowing capacity   $ 250,000,000.0