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Capital Structure - Outstanding preferred stock (Details) - USD ($) $ / shares in Units, $ in Millions |  |  | 12 Months Ended
--- | --- | --- | ---
Nov. 08, 2019 | Aug. 08, 2019 | Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Class of Stock [Line Items] |  |  |  |  |
Due after ten years |  |  | $ 5,141.0 | $ 4,641.0 |
Preferred stock, shares issued (in shares) |  |  | 92,500 | 79,800 |
Aggregate liquidation preference |  |  | $ 2,313.0 | $ 1,995.0 |
Aggregate dividend payment |  |  | 134.0 | 134.0 | $ 116.0
Excess redemption price over carrying value |  |  | $ 37.0 | $ 13.0 |
Series A |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |
Preferred stock, shares issued (in shares) |  |  | 11,500 | 11,500 |
Aggregate liquidation preference |  |  | $ 287.5 | $ 287.5 |
Dividend rate |  |  | 5.625% |  |
Dividends payable, amount per share (in usd per share) |  |  | $ 1.41 | $ 1.41 | $ 1.41
Aggregate dividend payment |  |  | $ 16.0 | $ 16.0 | $ 16.0
Series C |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |
Preferred stock, shares issued (in shares) |  |  | 0 | 0 |
Aggregate liquidation preference |  |  | $ 0.0 | $ 0.0 |
Dividend rate |  |  | 6.75% |  |
Dividends payable, amount per share (in usd per share) |  |  | $ 0 | $ 1.69 | $ 1.69
Aggregate dividend payment |  |  | $ 0.0 | $ 26.0 | $ 26.0
Series D |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |
Preferred stock, shares issued (in shares) |  |  | 0 | 5,400 |
Aggregate liquidation preference |  |  | $ 0.0 | $ 135.0 |
Dividend rate |  |  | 6.625% |  |
Dividends payable, amount per share (in usd per share) |  |  | $ 1.66 | $ 1.66 | $ 1.66
Aggregate dividend payment |  |  | $ 9.0 | $ 9.0 | $ 9.0
Series E |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |
Preferred stock, shares issued (in shares) |  |  | 0 | 29,900 |
Aggregate liquidation preference |  |  | $ 0.0 | $ 747.5 |
Dividend rate |  |  | 6.625% |  |
Dividends payable, amount per share (in usd per share) |  |  | $ 1.66 | $ 1.66 | $ 1.66
Aggregate dividend payment |  |  | $ 49.0 | $ 49.0 | $ 49.0
Series F |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |
Preferred stock, shares issued (in shares) |  |  | 0 | 10,000 |
Aggregate liquidation preference |  |  | $ 0.0 | $ 250.0 |
Dividend rate |  |  | 6.25% |  |
Dividends payable, amount per share (in usd per share) |  |  | $ 1.56 | $ 1.56 | $ 1.56
Aggregate dividend payment |  |  | $ 16.0 | $ 16.0 | $ 16.0
Series G |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |
Preferred stock, shares issued (in shares) |  |  | 23,000 | 23,000 |
Aggregate liquidation preference |  |  | $ 575.0 | $ 575.0 |
Dividend rate |  |  | 5.625% |  |
Dividends payable, amount per share (in usd per share) |  |  | $ 1.41 | $ 1.41 | $ 0
Aggregate dividend payment |  |  | $ 32.0 | $ 18.0 | $ 0.0
Series H |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |
Preferred stock, shares issued (in shares) |  |  | 46,000 | 0 |
Aggregate liquidation preference |  | $ 1,150.0 | $ 1,150.0 | $ 0.0 |
Dividend rate |  | 5.10% | 5.10% |  |
Dividends payable, amount per share (in usd per share) |  |  | $ 1.28 | $ 0 | $ 0
Aggregate dividend payment |  |  | $ 12.0 | $ 0.0 | $ 0.0
Series I |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |
Preferred stock, shares issued (in shares) |  |  | 12,000 | 0 |
Aggregate liquidation preference | $ 300.0 |  | $ 300.0 | $ 0.0 |
Dividend rate | 4.75% |  | 4.75% |  |
Dividends payable, amount per share (in usd per share) |  |  | $ 1.19 | $ 0 | $ 0
Aggregate dividend payment |  |  | $ 0.0 | $ 0.0 | $ 0.0
3.850% Senior Notes, due 2049 |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |
Due after ten years |  |  | $ 500.0 | $ 0.0 |

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