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Debt (Additional Information) (Details)
3 Months Ended 9 Months Ended
Oct. 16, 2020
USD ($)
Sep. 30, 2021
USD ($)
Sep. 30, 2020
USD ($)
Mar. 31, 2020
USD ($)
Sep. 30, 2021
USD ($)
Sep. 30, 2020
USD ($)
Dec. 31, 2020
USD ($)
Debt Instrument [Line Items]              
Borrowings under revolving credit facility   $ 0     $ 0   $ 25,000,000
Revolving Credit Facility              
Debt Instrument [Line Items]              
Borrowings under revolving credit facility   0     0   25,000,000
Outstanding line of credit issuance costs   $ 1,800,000     $ 1,800,000   $ 2,300,000
Revolving Credit Facility | Fourth Amended and Restated Credit Agreement              
Debt Instrument [Line Items]              
Maximum borrowing capacity $ 450,000,000            
Additional borrowing capacity $ 175,000,000            
Variable rate lower range, basis spread 0.625%            
Variable rate higher range, basis spread 1.00%            
Leverage ratio 3.25            
One-time leverage ratio maximum option 3.50            
One-time leverage ratio maximum option, period of increased maximum leverage ratio 1 year            
ICR covenant limit 3.00            
Amount of unrestricted domestic cash and cash equivalents permitted to net against indebtedness in calculation of total net leverage ratio (up to) $ 50,000,000            
Debt instrument, leverage ratio, maximum 2.75 2.75     2.75    
Borrowings   $ 0     $ 0    
Revolving Credit Facility | Fourth Amended and Restated Credit Agreement | Minimum              
Debt Instrument [Line Items]              
Unused capacity, commitment fee (percent) 0.25%            
Revolving Credit Facility | Fourth Amended and Restated Credit Agreement | Maximum              
Debt Instrument [Line Items]              
Unused capacity, commitment fee (percent) 0.35%            
Allowed restricted payments, including cash dividends $ 20,000,000            
Revolving Credit Facility | Fourth Amended and Restated Credit Agreement | Eurocurrency loans              
Debt Instrument [Line Items]              
Line of credit, LIBOR rate, minimum basis spread (percent) 1.625%            
Line of credit, LIBOR rate, maximum basis spread (percent) 2.00%            
Revolving Credit Facility | Fourth Amended and Restated Credit Agreement | Federal Funds Rate              
Debt Instrument [Line Items]              
Basis spread on variable rate (percent) 0.50%            
Revolving Credit Facility | Fourth Amended and Restated Credit Agreement | London Interbank Offered Rate (LIBOR)              
Debt Instrument [Line Items]              
Basis spread on variable rate (percent) 1.00%       1.625%    
Revolving Credit Facility | Third Amended Credit Agreement              
Debt Instrument [Line Items]              
Borrowings       $ 150,000,000      
Discretionary principal payments on revolving credit facility     $ 163,000,000   $ 25,000,000 $ 213,000,000