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Borrowings - Components of Borrowings (Details) - USD ($)
$ in Thousands
Sep. 30, 2019
Dec. 31, 2018
Debt Instrument [Line Items]    
Debt and capital lease obligations $ 200,000 $ 200,000
Interest Rate Per Annum   4.29%
Senior notes | Series B    
Debt Instrument [Line Items]    
Debt and capital lease obligations 0 $ 50,000
Interest Rate Per Annum   5.32%
Senior notes | Series C    
Debt Instrument [Line Items]    
Debt and capital lease obligations $ 90,000 $ 90,000
Interest Rate Per Annum 5.82% 5.82%
Senior notes | Series D    
Debt Instrument [Line Items]    
Debt and capital lease obligations $ 60,000 $ 60,000
Interest Rate Per Annum 4.29%  
Senior notes | Series E    
Debt Instrument [Line Items]    
Debt and capital lease obligations $ 50,000 0
Interest Rate Per Annum 4.53%  
Revolving credit agreement    
Debt Instrument [Line Items]    
Debt and capital lease obligations $ 0 $ 0