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Fair Value Measurements - Fair Value by Balance Sheet Grouping (Details) - Fair Value Measurements Using Level 3 - USD ($)
$ in Thousands
Sep. 30, 2021
Dec. 31, 2020
Carrying Amount    
Liabilities    
Carrying value of debt $ 1,529,113 $ 1,341,242
Fair Value    
Liabilities    
Fair value of debt $ 1,533,534 $ 1,368,151