XML 95 R78.htm IDEA: XBRL DOCUMENT v3.20.4
Debt and Credit Arrangements - Scheduled Annual Maturities (Details) - USD ($)
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Nov. 06, 2017
Long-term Debt, Fiscal Year Maturity        
2024 $ 485,400,000      
Debt Instrument        
Interest expense, debt 18,100,000 $ 17,700,000 $ 15,900,000  
Convertible Notes, due 2024 | Convertible Debt        
Debt Instrument        
Principal amount 258,800,000 258,800,000   $ 258,800,000
Interest expense, debt $ 10,600,000 $ 10,200,000