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Debt - Schedule of Repurchase Transactions and Facilities (Details) - USD ($)
$ in Thousands
Jun. 30, 2020
Dec. 31, 2019
Debt Instrument [Line Items]    
Amount of Collateral $ 578,310 $ 580,167
Repurchase Agreement    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity 910,185 918,521
Amount Outstanding 400,035 414,114
Amount of Collateral $ 578,310 $ 580,167
Percentage of Collateral Coverage 145.00% 140.00%
Interest Rate 3.29% 3.77%
Repurchase Agreement | July 10, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity   $ 250,000
Amount Outstanding   28,931
Amount of Collateral   $ 57,397
Percentage of Collateral Coverage   198.00%
Interest Rate   4.28%
Repurchase Agreement | September 24, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity $ 400,000 $ 400,000
Amount Outstanding 112,257 116,662
Amount of Collateral $ 167,347 $ 164,403
Percentage of Collateral Coverage 149.00% 141.00%
Interest Rate 2.69% 4.24%
Repurchase Agreement | July 9, 2021    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity $ 250,000  
Amount Outstanding 27,593  
Amount of Collateral $ 43,569  
Percentage of Collateral Coverage 158.00%  
Interest Rate 2.69%  
Class A Notes | Repurchase Agreement | January 3, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity   $ 1,644
Amount Outstanding   1,644
Amount of Collateral   $ 2,388
Percentage of Collateral Coverage   145.00%
Interest Rate   3.55%
2018-C | Class A Notes | Repurchase Agreement | March 25, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity   $ 7,075
Amount Outstanding   7,075
Amount of Collateral   $ 10,024
Percentage of Collateral Coverage   142.00%
Interest Rate   3.96%
2018-C | Class A Notes | Repurchase Agreement | September 24, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity $ 5,198  
Amount Outstanding 5,198  
Amount of Collateral $ 6,930  
Percentage of Collateral Coverage 133.00%  
Interest Rate 2.98%  
2018-C | Class B Notes | Repurchase Agreement | March 25, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity   $ 5,851
Amount Outstanding   5,851
Amount of Collateral   $ 7,423
Percentage of Collateral Coverage   127.00%
Interest Rate   3.81%
2018-C | Class B Notes | Repurchase Agreement | September 24, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity $ 6,876  
Amount Outstanding 6,876  
Amount of Collateral $ 10,024  
Percentage of Collateral Coverage 146.00%  
Interest Rate 3.13%  
2019-A | Repurchase Agreement | January 3, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity   $ 11,966
Amount Outstanding   11,966
Amount of Collateral   $ 15,742
Percentage of Collateral Coverage   132.00%
Interest Rate   3.45%
2019-A | Class A Notes | Repurchase Agreement | January 3, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity   $ 10,648
Amount Outstanding   10,648
Amount of Collateral   $ 14,058
Percentage of Collateral Coverage   132.00%
Interest Rate   3.45%
2019-A | Class A Notes | Repurchase Agreement | September 1, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity $ 14,158  
Amount Outstanding 14,158  
Amount of Collateral $ 18,850  
Percentage of Collateral Coverage 133.00%  
Interest Rate 3.04%  
2019-A | Class B Notes | Repurchase Agreement | January 3, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity   $ 5,485
Amount Outstanding   5,485
Amount of Collateral   $ 7,050
Percentage of Collateral Coverage   129.00%
Interest Rate   3.45%
2019-B | Repurchase Agreement | January 3, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity   $ 4,096
Amount Outstanding   4,096
Amount of Collateral   $ 5,261
Percentage of Collateral Coverage   128.00%
Interest Rate   3.45%
2019-B | Class A Notes | Repurchase Agreement | September 1, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity $ 13,994  
Amount Outstanding 13,994  
Amount of Collateral $ 24,496  
Percentage of Collateral Coverage 175.00%  
Interest Rate 3.04%  
2019-B | Class B Notes | Repurchase Agreement | January 3, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity   $ 1,576
Amount Outstanding   1,576
Amount of Collateral   $ 2,287
Percentage of Collateral Coverage   145.00%
Interest Rate   3.55%
2018-A | Class A Notes | Repurchase Agreement | January 3, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity   $ 6,093
Amount Outstanding   6,093
Amount of Collateral   $ 9,038
Percentage of Collateral Coverage   148.00%
Interest Rate   3.45%
2018-A | Class A Notes | Repurchase Agreement | September 28, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity $ 4,850  
Amount Outstanding 4,850  
Amount of Collateral $ 6,498  
Percentage of Collateral Coverage 134.00%  
Interest Rate 3.01%  
2018-G | Repurchase Agreement | January 21, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity   $ 15,718
Amount Outstanding   15,718
Amount of Collateral   $ 20,623
Percentage of Collateral Coverage   131.00%
Interest Rate   3.41%
2018-G | Repurchase Agreement | July 20, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity $ 13,565  
Amount Outstanding 13,565  
Amount of Collateral $ 19,047  
Percentage of Collateral Coverage 140.00%  
Interest Rate 3.04%  
2018-G | Class A Notes | Repurchase Agreement | January 21, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity   $ 10,305
Amount Outstanding   10,305
Amount of Collateral   $ 13,521
Percentage of Collateral Coverage   131.00%
Interest Rate   3.41%
2018-G | Class A Notes | Repurchase Agreement | September 17, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity $ 9,485  
Amount Outstanding 9,485  
Amount of Collateral $ 12,488  
Percentage of Collateral Coverage 132.00%  
Interest Rate 3.02%  
2018-G | Class B Notes | Repurchase Agreement | January 21, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity   $ 5,840
Amount Outstanding   5,840
Amount of Collateral   $ 7,324
Percentage of Collateral Coverage   125.00%
Interest Rate   3.41%
2017-D | Class A Notes | Repurchase Agreement | June 3, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity   $ 6,097
Amount Outstanding   6,097
Amount of Collateral   $ 7,891
Percentage of Collateral Coverage   129.00%
Interest Rate   3.64%
2017-D | Class A Notes | Repurchase Agreement | February 24, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity   $ 41,412
Amount Outstanding   41,412
Amount of Collateral   $ 54,828
Percentage of Collateral Coverage   132.00%
Interest Rate   2.92%
2017-D | Class A Notes | Repurchase Agreement | July 17, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity $ 36,047  
Amount Outstanding 36,047  
Amount of Collateral $ 49,503  
Percentage of Collateral Coverage 137.00%  
Interest Rate 3.44%  
2017-D | Class A Notes | Repurchase Agreement | September 1, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity $ 4,296  
Amount Outstanding 4,296  
Amount of Collateral $ 5,513  
Percentage of Collateral Coverage 128.00%  
Interest Rate 3.04%  
2018-D | Class A Notes | Repurchase Agreement | March 27, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity   $ 2,915
Amount Outstanding   2,915
Amount of Collateral   $ 3,709
Percentage of Collateral Coverage   127.00%
Interest Rate   3.79%
2018-D | Class A Notes | Repurchase Agreement | September 24, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity $ 2,730  
Amount Outstanding 2,730  
Amount of Collateral $ 3,585  
Percentage of Collateral Coverage 131.00%  
Interest Rate 2.98%  
2018-D | Class A Notes | Repurchase Agreement | January 3, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity   $ 5,175
Amount Outstanding   5,175
Amount of Collateral   $ 6,855
Percentage of Collateral Coverage   132.00%
Interest Rate   3.45%
2018-D | Class A Notes | Repurchase Agreement | September 28, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity $ 8,049  
Amount Outstanding 8,049  
Amount of Collateral $ 10,727  
Percentage of Collateral Coverage 133.00%  
Interest Rate 3.01%  
2017-B | Class B 1 Notes | Repurchase Agreement | January 3, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity   $ 8,411
Amount Outstanding   8,411
Amount of Collateral   $ 11,098
Percentage of Collateral Coverage   132.00%
Interest Rate   3.45%
2017-B | Class B 1 Notes | Repurchase Agreement | September 28, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity $ 6,099  
Amount Outstanding 6,099  
Amount of Collateral $ 9,038  
Percentage of Collateral Coverage 148.00%  
Interest Rate 3.16%  
2017-B | Class B 2 Notes | Repurchase Agreement | January 28, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity   $ 5,318
Amount Outstanding   5,318
Amount of Collateral   $ 7,464
Percentage of Collateral Coverage   140.00%
Interest Rate   3.19%
2017-B | Class M1 Notes | Repurchase Agreement | February 3, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity   $ 7,568
Amount Outstanding   7,568
Amount of Collateral   $ 9,702
Percentage of Collateral Coverage   128.00%
Interest Rate   4.19%
2017-B | Class M1 Notes | Repurchase Agreement | July 31, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity $ 7,763  
Amount Outstanding 7,763  
Amount of Collateral $ 9,702  
Percentage of Collateral Coverage 125.00%  
Interest Rate 3.56%  
2017-B | Class M2 Notes | Repurchase Agreement | February 3, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity   $ 6,664
Amount Outstanding   6,664
Amount of Collateral   $ 9,537
Percentage of Collateral Coverage   143.00%
Interest Rate   4.19%
2017-B | Class M2 Notes | Repurchase Agreement | July 31, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity $ 7,151  
Amount Outstanding 7,151  
Amount of Collateral $ 9,537  
Percentage of Collateral Coverage 133.00%  
Interest Rate 3.56%  
2018-E | Class A Notes | Repurchase Agreement | June 3, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity   $ 4,704
Amount Outstanding   4,704
Amount of Collateral   $ 6,106
Percentage of Collateral Coverage   130.00%
Interest Rate   3.64%
2018-E | Class A Notes | Repurchase Agreement | September 1, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity $ 2,954  
Amount Outstanding 2,954  
Amount of Collateral $ 3,916  
Percentage of Collateral Coverage 133.00%  
Interest Rate 3.04%  
2018-E | Class B Notes | Repurchase Agreement | June 3, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity   $ 3,053
Amount Outstanding   3,053
Amount of Collateral   $ 4,035
Percentage of Collateral Coverage   132.00%
Interest Rate   3.64%
2018-E | Class B Notes | Repurchase Agreement | September 1, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity $ 1,132  
Amount Outstanding 1,132  
Amount of Collateral $ 1,607  
Percentage of Collateral Coverage 142.00%  
Interest Rate 3.19%  
2018-F | Class A Notes | Repurchase Agreement | June 3, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity   $ 2,332
Amount Outstanding   2,332
Amount of Collateral   $ 3,360
Percentage of Collateral Coverage   144.00%
Interest Rate   3.79%
2018-F | Class A Notes | Repurchase Agreement | September 1, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity $ 5,624  
Amount Outstanding 5,624  
Amount of Collateral $ 7,352  
Percentage of Collateral Coverage 131.00%  
Interest Rate 3.04%  
2018-F | Class B Notes | Repurchase Agreement | June 3, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity   $ 1,132
Amount Outstanding   1,132
Amount of Collateral   $ 1,607
Percentage of Collateral Coverage   142.00%
Interest Rate   3.79%
2018-F | Class B Notes | Repurchase Agreement | September 1, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity $ 2,332  
Amount Outstanding 2,332  
Amount of Collateral $ 3,360  
Percentage of Collateral Coverage 144.00%  
Interest Rate 3.19%  
2019-C | Class A Notes | Repurchase Agreement | June 30, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity   $ 5,286
Amount Outstanding   5,286
Amount of Collateral   $ 7,044
Percentage of Collateral Coverage   133.00%
Interest Rate   3.57%
2019-C | Class A Notes | Repurchase Agreement | September 28, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity $ 4,938  
Amount Outstanding 4,938  
Amount of Collateral $ 6,581  
Percentage of Collateral Coverage 133.00%  
Interest Rate 3.01%  
2019-C | Class B Notes | Repurchase Agreement | June 30, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity   $ 3,324
Amount Outstanding   3,324
Amount of Collateral   $ 4,667
Percentage of Collateral Coverage   140.00%
Interest Rate   3.72%
2019-C | Class B Notes | Repurchase Agreement | September 28, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity $ 3,324  
Amount Outstanding 3,324  
Amount of Collateral $ 4,667  
Percentage of Collateral Coverage 140.00%  
Interest Rate 3.16%  
2018-B | Class A Notes | Repurchase Agreement | January 21, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity   $ 2,784
Amount Outstanding   2,784
Amount of Collateral   $ 4,050
Percentage of Collateral Coverage   145.00%
Interest Rate   3.51%
2018-B | Class A Notes | Repurchase Agreement | September 17, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity $ 4,336  
Amount Outstanding 4,336  
Amount of Collateral $ 5,624  
Percentage of Collateral Coverage 130.00%  
Interest Rate 3.02%  
2017-C | Class B Notes | Repurchase Agreement | July 10, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity $ 9,020  
Amount Outstanding 9,020  
Amount of Collateral $ 13,016  
Percentage of Collateral Coverage 144.00%  
Interest Rate 3.67%  
2017-C | Class B Notes | Repurchase Agreement | January 13, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity   $ 8,956
Amount Outstanding   8,956
Amount of Collateral   $ 13,016
Percentage of Collateral Coverage   145.00%
Interest Rate   4.16%
2019-E | Class A Notes | Repurchase Agreement | March 26, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity   $ 27,075
Amount Outstanding   27,075
Amount of Collateral   $ 34,591
Percentage of Collateral Coverage   128.00%
Interest Rate   3.81%
2019-E | Class A Notes | Repurchase Agreement | September 25, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity $ 21,400  
Amount Outstanding 21,400  
Amount of Collateral $ 30,747  
Percentage of Collateral Coverage 144.00%  
Interest Rate 3.13%  
2019-E | Class B Notes | Repurchase Agreement | January 28, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity   $ 2,520
Amount Outstanding   2,520
Amount of Collateral   $ 3,381
Percentage of Collateral Coverage   134.00%
Interest Rate   2.99%
2019-G | Class A Notes | Repurchase Agreement | January 10, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity   $ 21,088
Amount Outstanding   21,088
Amount of Collateral   $ 28,284
Percentage of Collateral Coverage   134.00%
Interest Rate   3.47%
2019-G | Class A Notes | Repurchase Agreement | September 1, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity $ 19,948  
Amount Outstanding 19,948  
Amount of Collateral $ 27,271  
Percentage of Collateral Coverage 137.00%  
Interest Rate 3.04%  
2019-G | Class B Notes | Repurchase Agreement | January 10, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity   $ 1,808
Amount Outstanding   1,808
Amount of Collateral   $ 2,640
Percentage of Collateral Coverage   146.00%
Interest Rate   3.57%
2019-H | Class A Notes | Repurchase Agreement | June 19, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity   $ 13,447
Amount Outstanding   13,447
Amount of Collateral   $ 18,076
Percentage of Collateral Coverage   134.00%
Interest Rate   3.55%
2019-H | Class A Notes | Repurchase Agreement | September 17, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity $ 11,825  
Amount Outstanding 11,825  
Amount of Collateral $ 15,832  
Percentage of Collateral Coverage 134.00%  
Interest Rate 3.02%  
2019-H | Class B Notes | Repurchase Agreement | June 19, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity   $ 1,155
Amount Outstanding   1,155
Amount of Collateral   $ 1,687
Percentage of Collateral Coverage   146.00%
Interest Rate   3.70%
2019-H | Class B Notes | Repurchase Agreement | September 17, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity $ 1,110  
Amount Outstanding 1,110  
Amount of Collateral $ 1,687  
Percentage of Collateral Coverage 152.00%  
Interest Rate 3.17%  
2020-A | Class A Notes | Repurchase Agreement | July 13, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity $ 30,026  
Amount Outstanding 30,026  
Amount of Collateral $ 45,368  
Percentage of Collateral Coverage 151.00%  
Interest Rate 6.97%  
2020-A | Class B Notes | Repurchase Agreement | August 13, 2020    
Debt Instrument [Line Items]    
Maximum Borrowing Capacity $ 1,955  
Amount Outstanding 1,955  
Amount of Collateral $ 4,428  
Percentage of Collateral Coverage 226.00%  
Interest Rate 3.33%