Outstanding Loans and Security Agreements - Schedule of Repayments (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Long-term Debt, Fiscal Year Maturity [Abstract]
2021	$ 121,469
2022	16,393
2023	22,166
2024	24,886
2025	258,022
Thereafter	84,118
Total	527,054	$ 658,083
Interest expense	78,800	94,200	$ 105,900
Interest expense to related parties	$ 2,513	$ 6,756	$ 8,893

Amount, before unamortized (discount) premium and debt issuance costs, of long-term debt. Includes, but is not limited to, notes payable, bonds payable, commercial loans, mortgage loans, convertible debt, subordinated debt and other types of debt.

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