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Debt - Senior Unsecured Notes (Details) - Senior notes - USD ($) | Mar. 31, 2018 | Dec. 31, 2017
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Series D, Series E, and Series F Senior unsecured notes |  |
Debt Instrument [Line Items] |  |
Face amount |  | $ 450,000,000.0
Senior unsecured notes, Series D |  |
Debt Instrument [Line Items] |  |
Face amount |  | $ 115,000,000.0
Stated rate (as a percent) | 4.08% | 4.08%
Senior unsecured notes, Series E |  |
Debt Instrument [Line Items] |  |
Face amount |  | $ 160,000,000.0
Stated rate (as a percent) | 4.26% | 4.26%
Senior unsecured notes, Series F |  |
Debt Instrument [Line Items] |  |
Face amount |  | $ 175,000,000.0
Stated rate (as a percent) | 4.44% | 4.44%

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