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Long-Term Debt - NOK Bonds - Additional Information (Details) kr in Thousands, $ in Thousands |  | 3 Months Ended | 9 Months Ended |  |
--- | --- | --- | --- | --- | ---
Oct. 28, 2021 NOK (kr) | Sep. 30, 2021 USD ($) | Sep. 30, 2020 USD ($) | Sep. 30, 2021 USD ($) | Sep. 30, 2020 USD ($) | Sep. 30, 2021 NOK (kr) | Dec. 31, 2020 USD ($) | Dec. 31, 2020 NOK (kr)
Debt Instrument [Line Items] |  |  |  |  |  |  |  |
Carrying amount of debt |  | $ 1,394,373 |  | $ 1,394,373 |  |  | $ 1,481,936 |
Foreign exchange gains (losses) |  | $ 2,767 | $ (7,853) | $ 6,884 | $ (14,738) |  |  |
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% |  |  |  |
NIBOR | Cross-currency swap agreements | 6.00% |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |
Fixed Rate Payable |  | 7.72% |  | 7.72% |  | 7.72% |  |
Derivative, Notional Amount |  | $ 146,500 |  | $ 146,500 |  | kr 1,200,000 |  |
Repayments of Unsecured Debt | kr | kr 1,200,000 |  |  |  |  |  |  |
Unsecured Debt |  |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |  |
Senior unsecured bonds issued | kr |  |  |  |  |  | kr 3,100,000 |  | kr 3,100,000
Carrying amount of debt |  | 348,630 |  | 348,630 |  |  | $ 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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