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Notes payable - Additional Information (Details) - USD ($)
1 Months Ended 12 Months Ended
Nov. 30, 2021
Oct. 31, 2021
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Mar. 31, 2021
May 31, 2020
Apr. 30, 2020
Debt Instrument [Line Items]                
Capital lease obligation     $ 80,000 $ 1,013,000        
Proceeds from notes payable     39,499,000 1,197,351,000 $ 16,456,000      
Other notes payable     2,398,000 39,385,000        
Notes payable, other than banks                
Debt Instrument [Line Items]                
Other notes payable     $ 2,300,000 $ 37,100,000        
Senior Notes | 3.6% Senior Notes                
Debt Instrument [Line Items]                
Aggregate principal amount $ 450,000,000              
Stated interest rate (as a percent) 3.60%   3.60%          
Debt issuance costs $ 444,000,000              
Senior Notes | 3.6% Senior Notes | At any time prior to August 15, 2031                
Debt Instrument [Line Items]                
Redemption notice period 1500.00%              
Senior Notes | 3.6% Senior Notes | Minimum | At any time prior to August 15, 2031                
Debt Instrument [Line Items]                
Redemption price percentage 100.00%              
Line of credit                
Debt Instrument [Line Items]                
Maximum borrowing capacity           $ 350,000,000 $ 200,000,000 $ 150,000,000
Line of credit | Revolving Credit Facility                
Debt Instrument [Line Items]                
Remaining borrowing capacity     $ 197,500,000          
Line of credit | Letter of credit                
Debt Instrument [Line Items]                
Remaining borrowing capacity     $ 2,500,000          
Line of credit | New Credit Agreement                
Debt Instrument [Line Items]                
Maximum borrowing capacity   $ 200,000,000            
Line of credit | New Credit Agreement | Revolving Credit Facility                
Debt Instrument [Line Items]                
Increase limit   $ 125,000,000            
Line of credit | New Credit Agreement | Minimum                
Debt Instrument [Line Items]                
Commitment fee (percent)   0.15%            
Line of credit | New Credit Agreement | Minimum | Base Rate                
Debt Instrument [Line Items]                
Basis spread on variable rate, line of credit (percent)   0.25%            
Line of credit | New Credit Agreement | Minimum | LIBOR                
Debt Instrument [Line Items]                
Basis spread on variable rate, line of credit (percent)   1.25%            
Line of credit | New Credit Agreement | Maximum                
Debt Instrument [Line Items]                
Commitment fee (percent)   0.30%            
Line of credit | New Credit Agreement | Maximum | Base Rate                
Debt Instrument [Line Items]                
Basis spread on variable rate, line of credit (percent)   0.625%            
Line of credit | New Credit Agreement | Maximum | LIBOR                
Debt Instrument [Line Items]                
Basis spread on variable rate, line of credit (percent)   1.625%            
Line of credit | Term Loan                
Debt Instrument [Line Items]                
Maximum borrowing capacity   $ 400,000,000            
Debt instrument, term   364 days            
Proceeds from notes payable   $ 370,000,000