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Derivative Instruments and Hedging Activities - Summary of Cross Currency Swap Agreements (Details) - Cross-currency swap agreements
kr in Thousands, $ in Thousands
6 Months Ended
Jun. 30, 2021
USD ($)
Jun. 30, 2021
NOK (kr)
Derivative [Line Items]    
Fair Value / Carrying Amount of Asset (Liability) $ $ (12,704)  
NIBOR | 6.00%    
Derivative [Line Items]    
Derivative, Notional Amount $ 146,500 kr 1,200,000
Derivative, Basis Spread on Variable Rate 6.00% 6.00%
Fixed Rate Payable 7.72% 7.72%
Fair Value / Carrying Amount of Asset (Liability) $ $ (8,667)  
Weighted- Average Remaining Term (Years) 3 months 18 days  
NIBOR | 4.60%    
Derivative [Line Items]    
Derivative, Notional Amount $ 102,000 kr 850,000
Derivative, Basis Spread on Variable Rate 4.60% 4.60%
Fixed Rate Payable 7.89% 7.89%
Fair Value / Carrying Amount of Asset (Liability) $ $ (9,843)  
Weighted- Average Remaining Term (Years) 2 years 2 months 12 days  
NIBOR | 5.15%    
Derivative [Line Items]    
Derivative, Notional Amount $ 112,000 kr 1,000,000
Derivative, Basis Spread on Variable Rate 5.15% 5.15%
Fixed Rate Payable 5.74% 5.74%
Fair Value / Carrying Amount of Asset (Liability) $ $ 5,806  
Weighted- Average Remaining Term (Years) 4 years 2 months 12 days