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Outstanding Loans and Security Agreements - Schedule of Repayments (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Dec. 31, 2020
Long-term Debt, Fiscal Year Maturity [Abstract]          
Remainder of 2021 $ 114,110   $ 114,110    
2022 16,393   16,393    
2023 22,166   22,166    
2024 24,886   24,886    
2025 28,022   28,022    
Thereafter 313,638   313,638    
Total 519,215   519,215   $ 527,054
Interest expense 14,600 $ 15,200 29,300 $ 37,300  
Interest expense to related parties $ 0 $ 794 $ 0 $ 2,160