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Derivative Financial Instruments - Net Gains (Losses) Recorded in Accumulated Other Comprehensive Income (Loss) (Details) - Interest rate contract - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Dec. 31, 2020
Derivative [Line Items]      
Cash pledged to secure obligations $ 2,400   $ 3,200
Cash Flow Hedging      
Derivative [Line Items]      
Gain (loss) recognized in OCI, net of tax 410 $ (2,237)  
(Gain) loss reclassified from OCI to interest expense, net of tax 199 (11)  
Net change in unrealized gains (losses) on cash flow hedges $ 609 $ (2,248)