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DEBT - Long-Term Obligations (Details) - USD ($)
$ in Thousands
Dec. 31, 2020
Dec. 31, 2019
Jan. 01, 2019
Dec. 31, 2018
Debt Instrument [Line Items]        
Total finance lease liabilities $ 30,025 $ 29,952    
Unamortized debt issuance costs (1,663) (2,241)    
Long-term debt and lease obligation, including current maturities 1,120,664 1,151,441    
Current maturities of long-term obligations (65,666) (65,988) $ (65,309) $ (62,678)
Long-Term Obligations, net of unamortized debt issuance costs $ 1,054,998 1,085,453 $ 1,129,238 $ 1,125,993
Consolidated leverage ratio 1.63      
Consolidated interest coverage ratio 16.86      
Minimum        
Debt Instrument [Line Items]        
Consolidated interest coverage ratio 3.00      
Maximum        
Debt Instrument [Line Items]        
Consolidated leverage ratio 3.50      
Notes payable 0.00% – 10.90%, due in monthly and annual installments through 2028        
Debt Instrument [Line Items]        
Long-term debt, gross $ 14,002 19,220    
Notes payable 0.00% – 10.90%, due in monthly and annual installments through 2028 | Minimum        
Debt Instrument [Line Items]        
Interest rate on notes 0.00%      
Notes payable 0.00% – 10.90%, due in monthly and annual installments through 2028 | Maximum        
Debt Instrument [Line Items]        
Interest rate on notes 10.90%      
Senior unsecured notes 3.2%, due in 2022        
Debt Instrument [Line Items]        
Long-term debt, gross $ 75,000 75,000    
Interest rate on notes 3.20%      
Senior unsecured debts 1.7% USD floating swapped to 1.36% EUR fixed, equal annual installments through 2022        
Debt Instrument [Line Items]        
Long-term debt, gross $ 112,000 168,000    
Interest rate on notes 1.36%      
Floating interest rate prior to conversion to fixed interest rate 1.70%      
Senior unsecured notes 3.5%, due in 2023        
Debt Instrument [Line Items]        
Long-term debt, gross $ 125,000 125,000    
Interest rate on notes 3.50%      
Senior unsecured notes 1.0%, due in 2023        
Debt Instrument [Line Items]        
Long-term debt, gross $ 122,100 112,170    
Interest rate on notes 1.00%      
Senior unsecured notes 3.4%, due in 2024        
Debt Instrument [Line Items]        
Long-term debt, gross $ 50,000 50,000    
Interest rate on notes 3.40%      
Senior unsecured notes 3.5%, due in 2024        
Debt Instrument [Line Items]        
Long-term debt, gross $ 100,000 100,000    
Interest rate on notes 3.50%      
Senior unsecured notes 1.2%, due in 2024        
Debt Instrument [Line Items]        
Long-term debt, gross $ 244,200 224,340    
Interest rate on notes 1.20%      
Senior unsecured notes 3.6%, due in 2025        
Debt Instrument [Line Items]        
Long-term debt, gross $ 125,000 125,000    
Interest rate on notes 3.60%      
Senior unsecured notes 3.6%, due in 2026        
Debt Instrument [Line Items]        
Long-term debt, gross $ 125,000 $ 125,000    
Interest rate on notes 3.60%