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Long-Term Debt - Euro-denominated Term Loans- Additional Information (Details) $ in Thousands, € in Millions | 3 Months Ended | 9 Months Ended |  |
--- | --- | --- | --- | ---
Sep. 30, 2021 USD ($) vessel term_loan subsidiary | Sep. 30, 2020 USD ($) | Sep. 30, 2021 USD ($) vessel term_loan subsidiary | Sep. 30, 2020 USD ($) | Sep. 30, 2021 EUR (€) vessel term_loan subsidiary | Dec. 31, 2020 USD ($) | Dec. 31, 2020 EUR (€)
Debt Instrument [Line Items] |  |  |  |  |  |  |
Number of Term Loans | 6 |  | 6 |  | 6 |  |
Carrying amount of debt | $ | $ 1,394,373 |  | $ 1,394,373 |  |  | $ 1,481,936 |
Foreign currency exchange gain (loss) (notes 8 and 11) | $ | $ 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% |  |  |  |
Line of Credit |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Number Of Vessels | vessel | 2 |  | 2 |  | 2 |  |
Line of Credit | Financial Guarantee [Member] |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Number of subsidiaries that guaranteed the term loans | subsidiary | 2 |  | 2 |  | 2 |  |
Euro-denominated Term Loans due in 2023 and 2024 |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Number of Term Loans | 2 |  | 2 |  | 2 |  |
Carrying amount of debt | $ 128,400 |  | $ 128,400 |  | € 110.9 | $ 152,700 | € 125.0
Euro-denominated Term Loans due in 2023 and 2024 | Asset Pledged as Collateral [Member] |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Number Of Vessels | vessel | 2 |  | 2 |  | 2 |  |
Euro-denominated Term Loans due in 2023 and 2024 | Financial Guarantee [Member] |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Number of subsidiaries that guaranteed the term loans | subsidiary | 1 |  | 1 |  | 1 |  |
Euro-denominated Term Loans due in 2023 and 2024 | EURIBOR |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Number of Term Loans | 1 |  | 1 |  | 1 |  |
Euro-denominated Term Loans due in 2023 and 2024 | EURIBOR | Minimum [Member] |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Variable interest rate on debt |  |  | 0.60% |  |  |  |
Euro-denominated Term Loans due in 2023 and 2024 | EURIBOR | Maximum [Member] |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Variable interest rate on debt |  |  | 1.95% |  |  |  |

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