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Long-Term Debt - Effects of Interest Rate Swap and Cap Agreements (Details) - Cash Flow Hedging - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Derivative Instruments, Gain (Loss) [Line Items]      
Amount of unrealized (losses) gains in OCI on interest rate cap agreements $ (16,346) $ 1,151 $ (133)
Reclassification from accumulated other comprehensive income into net income 5,313 6,377 6,286
Related income tax benefit (expense)      
Derivative Instruments, Gain (Loss) [Line Items]      
Amount of unrealized (losses) gains in OCI on interest rate cap agreements 5,435 (415) 48
Reclassification from accumulated other comprehensive income into net income (1,768) (2,214) (2,180)
Interest rate cap agreements | Debt Expense      
Derivative Instruments, Gain (Loss) [Line Items]      
Amount of unrealized (losses) gains in OCI on interest rate cap agreements (21,781) 1,566 (181)
Reclassification from accumulated other comprehensive income into net income $ 7,081 $ 8,591 $ 8,466