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Long-Term Debt - NOK Bonds - Additional Information (Details) $ in Thousands, kr in Millions | 3 Months Ended | 6 Months Ended |  |
--- | --- | --- | --- | ---
Jun. 30, 2021 USD ($) | Jun. 30, 2020 USD ($) | Jun. 30, 2021 USD ($) | Jun. 30, 2020 USD ($) | Jun. 30, 2021 NOK (kr) | Dec. 31, 2020 USD ($) | Dec. 31, 2020 NOK (kr)
Debt Instrument [Line Items] |  |  |  |  |  |  |
Carrying amount of debt | $ 1,427,228 |  | $ 1,427,228 |  |  | $ 1,481,936 |
Foreign exchange gains (losses) | (2,843) | $ (11,624) | $ 4,117 | $ (6,885) |  |  |
Minimum [Member] |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Variable interest rate on debt |  |  | 0.60% |  |  |  |
Maximum [Member] |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Variable interest rate on debt |  |  | 3.25% |  |  |  |
Unsecured Debt |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Senior unsecured bonds issued | kr |  |  |  |  | kr 3,100.0 |  | kr 3,100.0
Carrying amount of debt | 354,486 |  | $ 354,486 |  |  | $ 355,514 |
Unsecured Debt | Cross-currency swap agreements |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Derivative, Notional Amount | $ 360,500 |  | $ 360,500 |  |  |  |
Unsecured Debt | Minimum [Member] | Cross-currency swap agreements |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Fixed Rate Payable | 5.74% |  | 5.74% |  | 5.74% |  |
Unsecured Debt | Maximum [Member] | Cross-currency swap agreements |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Fixed Rate Payable | 7.89% |  | 7.89% |  | 7.89% |  |
Unsecured Debt | NIBOR | Minimum [Member] |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Variable interest rate on debt |  |  | 4.60% |  |  |  |
Unsecured Debt | NIBOR | Maximum [Member] |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Variable interest rate on debt |  |  | 6.00% |  |  |  |

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- Definition Amount, before unamortized (discount) premium and debt issuance costs, of long-term debt. Includes, but is not limited to, notes payable, bonds payable, commercial loans, mortgage loans, convertible debt, subordinated debt and other types of debt. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 470 -SubTopic 20 -Section 50 -Paragraph 4 -Subparagraph (b)(1) -URI http://asc.fasb.org/extlink&oid=123466204&loc=SL6031897-161870 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 944 -SubTopic 210 -Section S99 -Paragraph 1 -Subparagraph (SX 210.7-03(16)) -URI http://asc.fasb.org/extlink&oid=120400017&loc=d3e572229-122910 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02(22)) -URI http://asc.fasb.org/extlink&oid=120391452&loc=d3e13212-122682 Reference 4: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 942 -SubTopic 210 -Section S99 -Paragraph 1 -Subparagraph (SX 210.9-03(16)) -URI http://asc.fasb.org/extlink&oid=120398452&loc=d3e534808-122878 + Details
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