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Debt - Narrative (Details)
12 Months Ended
Dec. 31, 2020
USD ($)
Dec. 31, 2019
USD ($)
Dec. 31, 2018
USD ($)
Dec. 31, 2012
USD ($)
tranche
Line of Credit Facility [Line Items]        
Long-term debt, gross $ 255,700,000 $ 258,000,000.0    
Less: current portion of long-term debt 2,300,000 2,300,000    
Long-term debt, net 252,900,000 255,000,000.0    
Number Tranches | tranche       3
Unamortized debt issuance costs remaining 500,000 700,000    
Interest expense 9,600,000 9,400,000 $ 9,300,000  
Aggregate annual maturities of long-term debt [Abstract]        
2021 2,300,000      
2022 44,200,000      
2023 2,200,000      
2024 134,000,000.0      
2025 0.0      
Thereafter 73,000,000.0      
Series A notes, due July 5, 2022 (3.67%)        
Line of Credit Facility [Line Items]        
Debt instrument, maturity date       Jul. 05, 2022
Series B notes, due July 5, 2024 (3.82%)        
Line of Credit Facility [Line Items]        
Debt instrument, maturity date       Jul. 05, 2024
Series C notes, due July 5, 2027 (4.02%)        
Line of Credit Facility [Line Items]        
Debt instrument, maturity date       Jul. 05, 2027
Revolving credit facility, due 2024        
Line of Credit Facility [Line Items]        
Line of credit facility, current borrowing capacity 300,000,000.0      
Credit available for the issuance of letters of credit 30,000,000.0      
Line of credit facility, additional borrowing capacity 350,000,000.0      
Debt issuance costs 400,000 1,100,000    
Line of credit, noncurrent 0      
Line of credit facility, unused commitment level 297,500,000      
Term Loan, due December 31, 2024 (1.13%)        
Line of Credit Facility [Line Items]        
Debt issuance costs 100,000      
Debt instrument, face amount   90,000,000.0    
Long-term debt, gross 87,700,000 90,000,000.0    
Less: current portion of long-term debt 2,300,000      
Long-term debt, net $ 85,400,000      
Debt instrument, stated interest rate 1.13%      
Senior Notes        
Line of Credit Facility [Line Items]        
Debt instrument, face amount       $ 168,000,000.0
Weighted average of the coupon interest rate       3.87%
Unamortized debt issuance costs remaining $ 400,000 $ 500,000    
Senior Notes | Series A notes, due July 5, 2022 (3.67%)        
Line of Credit Facility [Line Items]        
Debt instrument, face amount       $ 42,000,000.0
Debt instrument, stated interest rate       3.67%
Senior Notes | Series B notes, due July 5, 2024 (3.82%)        
Line of Credit Facility [Line Items]        
Debt instrument, face amount       $ 53,000,000.0
Debt instrument, stated interest rate       3.82%
Senior Notes | Series C notes, due July 5, 2027 (4.02%)        
Line of Credit Facility [Line Items]        
Debt instrument, face amount       $ 73,000,000.0
Debt instrument, stated interest rate       4.02%
Domestic Line of Credit | Revolving credit facility, due 2024        
Line of Credit Facility [Line Items]        
Credit facility is available for swing-line loans 30,000,000.0      
Foreign Line of Credit | Revolving credit facility, due 2024        
Line of Credit Facility [Line Items]        
Credit facility is available for swing-line loans $ 20,000,000.0      
Fed Funds Effective Rate Overnight Index Swap Rate | Revolving credit facility, due 2024        
Line of Credit Facility [Line Items]        
Basis spread on variable interest rate 50.00%      
London Interbank Offered Rate (LIBOR) | Revolving credit facility, due 2024        
Line of Credit Facility [Line Items]        
Basis spread on variable interest rate 1.00%      
London Interbank Offered Rate (LIBOR) | Term Loan, due December 31, 2024 (1.13%)        
Line of Credit Facility [Line Items]        
Basis spread on variable interest rate   87.50%    
Letter of Credit | Revolving credit facility, due 2024        
Line of Credit Facility [Line Items]        
Outstanding amount $ 2,500,000      
Minimum | Revolving credit facility, due 2024        
Line of Credit Facility [Line Items]        
Ratio of debt to EBITDA 3.5      
Minimum | Base Rate        
Line of Credit Facility [Line Items]        
Basis spread on variable interest rate 0.00%      
Minimum | London Interbank Offered Rate (LIBOR) | Revolving credit facility, due 2024        
Line of Credit Facility [Line Items]        
Basis spread on variable interest rate 0.875%      
Maximum | Revolving credit facility, due 2024        
Line of Credit Facility [Line Items]        
Ratio of debt to EBITDA 4.0      
Maximum | Base Rate        
Line of Credit Facility [Line Items]        
Basis spread on variable interest rate 0.375%      
Maximum | London Interbank Offered Rate (LIBOR) | Revolving credit facility, due 2024        
Line of Credit Facility [Line Items]        
Basis spread on variable interest rate 1.375%