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Debt - Senior Unsecured Notes (Details) - Senior notes - USD ($) | Mar. 17, 2020 | Mar. 31, 2021
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Series G and Series H Senior Unsecured Notes |  |
Debt Instrument [Line Items] |  |
Face amount | $ 175,000,000 |
Issue price, as a percent of aggregate principal amount | 100.00% |
Senior unsecured notes, Series G |  |
Debt Instrument [Line Items] |  |
Face amount | $ 100,000,000 |
Stated rate (as a percent) | 3.61% | 3.61%
Senior unsecured notes, Series H |  |
Debt Instrument [Line Items] |  |
Face amount | $ 75,000,000 |
Stated rate (as a percent) | 3.73% | 3.73%

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