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DEBT - DESCRIPTION (Details)
1 Months Ended 3 Months Ended 12 Months Ended
Jun. 22, 2020
USD ($)
Apr. 27, 2020
USD ($)
Mar. 31, 2020
Dec. 21, 2016
USD ($)
Sep. 14, 2016
USD ($)
Jul. 31, 2015
USD ($)
Jan. 31, 2014
USD ($)
Aug. 31, 2004
USD ($)
Sep. 30, 2003
USD ($)
Jun. 30, 2012
USD ($)
item
Dec. 31, 2020
USD ($)
Jul. 15, 2015
Debt                        
Payment of debt financing costs                     $ 18,500,000  
Proceeds from issuance of debt                     325,500,000  
Letters of credit                     $ 8,100,000  
Revolving Credit Facility                        
Debt                        
Interest rate during period (as a percent)                     2.50%  
Maximum borrowing capacity under revolving credit facility                     $ 650,000,000  
Uncommitted option to increase credit facility                     250,000,000  
Unused portion of credit facility                     570,100,000  
Debt covenant, maximum priority debt to be incurred by Foreign Subsidiaries                     $ 20,000,000  
Revolving Credit Facility | Minimum                        
Debt                        
Ratio of consolidated EBITDA to interest expense                     3.50  
Credit facility commitment fee percentage     0.25%                  
Revolving Credit Facility | Minimum | London Interbank Offered Rate (LIBOR)                        
Debt                        
Variable rate margin     1.75%                  
Revolving Credit Facility | Minimum | Base rate                        
Debt                        
Variable rate margin     0.75%                  
Revolving Credit Facility | Maximum                        
Debt                        
Credit facility commitment fee percentage     0.55%                  
Revolving Credit Facility | Maximum | London Interbank Offered Rate (LIBOR)                        
Debt                        
Variable rate margin     3.50%                  
Revolving Credit Facility | Maximum | Base rate                        
Debt                        
Variable rate margin     2.50%                  
Standby and commercial letters of credit                        
Debt                        
Standby letters of credit                     $ 8,100,000  
Maximum borrowing capacity under revolving credit facility                     100,000,000  
Standby and commercial letters of credit | Minimum                        
Debt                        
Line of credit fees percentage     1.75%                  
Standby and commercial letters of credit | Maximum                        
Debt                        
Line of credit fees percentage     3.50%                  
Swing Line Loans                        
Debt                        
Maximum borrowing capacity under revolving credit facility                     $ 50,000,000  
5.34%, payable through 2028                        
Debt                        
Interest rate (as a percent)                     5.34%  
5.34%, payable through 2028 | MatNav                        
Debt                        
Debt issued                 $ 55,000,000.0      
Interest rate (as a percent)                 5.34%      
Semi-annual payments                 $ 1,100,000      
5.79%, payable through 2020                        
Debt                        
Interest rate (as a percent)                     5.79%  
Annual principal payments                     $ 3,500,000  
5.27%, payable through 2029                        
Debt                        
Interest rate (as a percent)                     5.27%  
5.27%, payable through 2029 | MatNav                        
Debt                        
Debt issued               $ 55,000,000.0        
Interest rate (as a percent)               5.27%        
Semi-annual payments               $ 1,100,000        
Senior Unsecured Long Term Debt                        
Debt                        
Debt issued             $ 100,000,000.0          
Debt instrument term             30 years          
Interest rate (as a percent)             4.35%          
4.35%, payable through 2044                        
Debt                        
Interest rate (as a percent)                     4.35%  
Unsecured debt                        
Debt                        
Debt issued                   $ 170,000,000.0    
Number of tranches | item                   3    
Unsecured debt | Debt Instrument Redemption 2015 through 2016                        
Debt                        
Semi-annual payments                   $ 4,600,000    
Unsecured debt | Debt Instrument Redemption 2017 through mid-year 2023                        
Debt                        
Semi-annual payments                   8,400,000    
Unsecured debt | Debt Instrument Redemption Mid-year 2023 through mid-year 2027                        
Debt                        
Semi-annual payments                   3,800,000    
Unsecured debt | Debt Instrument Redemption After mid-year 2027                        
Debt                        
Semi-annual payments                   1,200,000    
Unsecured debt, tranche maturing in 2023                        
Debt                        
Debt issued                   $ 77,500,000    
Interest rate (as a percent)                   3.66%    
Unsecured debt, tranche maturing in 2027                        
Debt                        
Debt issued                   $ 55,000,000.0    
Interest rate (as a percent)                   4.16%    
Unsecured debt, tranche maturing in 2032                        
Debt                        
Debt issued                   $ 37,500,000    
Interest rate (as a percent)                   4.31%    
Notes 30 years                        
Debt                        
Debt issued           $ 75,000,000.0            
Debt instrument term           30 years            
Interest rate (as a percent)                       3.92%
Senior Unsecured Series A Notes                        
Debt                        
Debt issued       $ 75,000,000                
Debt instrument term       11 years                
Interest rate (as a percent)       3.37%                
Senior Unsecured Series A Notes | Debt Instrument Redemption 2021                        
Debt                        
Semi-annual payments       $ 5,800,000                
Senior Unsecured Series A Notes | Debt Instrument Redemption 2022 through 2027                        
Debt                        
Semi-annual payments       $ 11,500,000                
Title XI Notes | MatNav                        
Debt                        
Debt issued $ 139,600,000 $ 185,900,000                    
Interest rate (as a percent) 1.35% 1.22%                    
Annual principal payments $ 3,000,000.0 $ 4,000,000.0                    
Payment of debt financing costs $ 6,700,000 $ 8,700,000                    
The Senior Unsecured Notes (The "Series D Notes")                        
Debt                        
Debt issued         $ 200,000,000.0              
Debt instrument term         15 years              
Interest rate (as a percent)         3.14%              
Maturities of Long-term Debt                        
Semi-annual principal payments in year 2019         $ 6,000,000.0              
Semi-annual principal payments in 2020 to 2023         9,200,000              
Semi-annual principal payments in 2024 to 2031         $ 7,150,000