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Debt - Schedule Estimated Fair Values of Debt (Details) - USD ($)
$ in Thousands
Dec. 31, 2020
Dec. 31, 2019
Carrying amount    
Debt Instrument [Line Items]    
Total senior and other debt $ 996,369 $ 1,186,250
Estimated fair value    
Debt Instrument [Line Items]    
Total senior and other debt $ 1,043,294 $ 1,248,110