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Debt - Long-Term Debt (Parenthetical) (Details) - USD ($)
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Mar. 05, 2018
Mar. 31, 2016
2018 Credit Agreement        
Debt Instrument [Line Items]        
Amount available under credit facility     $ 350,000,000  
2018 Credit Agreement | 2018 Term Loan        
Debt Instrument [Line Items]        
Basis spread on term loan 1.50%      
Term loan combined interest rate 1.75% 3.44%    
Maturity period Mar. 31, 2023      
2018 Credit Agreement | Revolving Loan        
Debt Instrument [Line Items]        
Maturity period Mar. 31, 2023      
Amount available under credit facility $ 200,000,000   $ 200,000,000  
Senior Convertible Notes 2016        
Debt Instrument [Line Items]        
Maturity period Mar. 15, 2036      
Interest rate on senior subordinated convertible notes 4.25%     4.25%