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Debt (Tables)
 12 Months Ended
Dec. 31, 2017
Debt [Abstract]  
Schedule of Outstanding Debt

The Company had the following outstanding debt at December 31, 2017 and 2016 (in thousands):

December 31,
20172016
Foreign subsidiary lines of credit$273$297
Senior unsecured notes - Series D - 3.22%, due March 2018100,000-
Credit agreement-125,000
Total notes payable and debt, current100,273125,297
Senior unsecured notes - Series B - 5.00%, due February 2020100,000100,000
Senior unsecured notes - Series D - 3.22%, due March 2018-100,000
Senior unsecured notes - Series E - 3.97%, due March 202150,00050,000
Senior unsecured notes - Series F - 3.40%, due June 2021100,000100,000
Senior unsecured notes - Series G - 3.92%, due June 202450,00050,000
Senior unsecured notes - Series H - floating rate*, due June 202450,00050,000
Senior unsecured notes - Series I - 3.13%, due May 202350,00050,000
Senior unsecured notes - Series J - floating rate**, due May 202440,00040,000
Senior unsecured notes - Series K - 3.44%, due May 2026160,000160,000
Credit agreement1,300,0001,005,000
Unamortized debt issuance costs(2,499)(3,034)
Total long-term debt1,897,5011,701,966
Total debt$1,997,774$1,827,263
* Series H senior unsecured notes bear interest at a 3-month LIBOR for that floating rate interest period plus 1.25%.
** Series J senior unsecured notes bear interest at a 3-month LIBOR for that floating rate interest period plus 1.45%.
Schedule of Debt Maturities

Annual maturities of debt outstanding at December 31, 2017 are as follows (in thousands):

Total
2018$100,273
2019-
2020100,000
2021150,000
20221,300,000
Thereafter350,000
Total$2,000,273