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Capital Structure - Outstanding preferred stock (Details) - USD ($) $ / shares in Units, $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Class of Stock [Line Items] |  |  |
Preferred stock, shares issued (in shares) | 81,000 | 92,500 |
Proceeds from issuance of preferred stock, gross | $ 2,025.0 | $ 2,313.0 |
Aggregate dividend payment | 108.0 | 134.0 | $ 134.0
Excess redemption price over carrying value | $ 10.0 | $ 37.0 | $ 13.0
Series A |  |  |
Class of Stock [Line Items] |  |  |
Preferred stock, shares issued (in shares) | 0 | 11,500 |
Proceeds from issuance of preferred stock, gross | $ 0.0 | $ 287.5 |
Dividend rate | 5.625% |  |
Dividends payable, amount per share (in usd per share) | $ 0 | $ 1.41 | $ 1.41
Aggregate dividend payment | $ 4.0 | $ 16.0 | $ 16.0
Series C |  |  |
Class of Stock [Line Items] |  |  |
Preferred stock, shares issued (in shares) | 0 | 0 |
Proceeds from issuance of preferred stock, gross | $ 0.0 | $ 0.0 |
Dividend rate | 6.75% |  |
Dividends payable, amount per share (in usd per share) | $ 0 | $ 0 | $ 1.69
Aggregate dividend payment | $ 0.0 | $ 0.0 | $ 26.0
Series D |  |  |
Class of Stock [Line Items] |  |  |
Preferred stock, shares issued (in shares) | 0 | 0 |
Proceeds from issuance of preferred stock, gross | $ 0.0 | $ 0.0 |
Dividend rate | 6.625% |  |
Dividends payable, amount per share (in usd per share) | $ 0 | $ 1.66 | $ 1.66
Aggregate dividend payment | $ 0.0 | $ 9.0 | $ 9.0
Series E |  |  |
Class of Stock [Line Items] |  |  |
Preferred stock, shares issued (in shares) | 0 | 0 |
Proceeds from issuance of preferred stock, gross | $ 0.0 | $ 0.0 |
Dividend rate | 6.625% |  |
Dividends payable, amount per share (in usd per share) | $ 0 | $ 1.66 | $ 1.66
Aggregate dividend payment | $ 0.0 | $ 49.0 | $ 49.0
Series F |  |  |
Class of Stock [Line Items] |  |  |
Preferred stock, shares issued (in shares) | 0 | 0 |
Proceeds from issuance of preferred stock, gross | $ 0.0 | $ 0.0 |
Dividend rate | 6.25% |  |
Dividends payable, amount per share (in usd per share) | $ 0 | $ 1.56 | $ 1.56
Aggregate dividend payment | $ 0.0 | $ 16.0 | $ 16.0
Series G |  |  |
Class of Stock [Line Items] |  |  |
Preferred stock, shares issued (in shares) | 23,000 | 23,000 |
Proceeds from issuance of preferred stock, gross | $ 575.0 | $ 575.0 |
Dividend rate | 5.625% |  |
Dividends payable, amount per share (in usd per share) | $ 1.41 | $ 1.41 | $ 1.41
Aggregate dividend payment | $ 32.0 | $ 32.0 | $ 18.0
Series H |  |  |
Class of Stock [Line Items] |  |  |
Preferred stock, shares issued (in shares) | 46,000 | 46,000 |
Proceeds from issuance of preferred stock, gross | $ 1,150.0 | $ 1,150.0 |
Dividend rate | 5.10% |  |
Dividends payable, amount per share (in usd per share) | $ 1.28 | $ 1.28 | $ 0
Aggregate dividend payment | $ 59.0 | $ 12.0 | $ 0.0
Series I |  |  |
Class of Stock [Line Items] |  |  |
Preferred stock, shares issued (in shares) | 12,000 | 12,000 |
Proceeds from issuance of preferred stock, gross | $ 300.0 | $ 300.0 |
Dividend rate | 4.75% |  |
Dividends payable, amount per share (in usd per share) | $ 1.19 | $ 1.19 | $ 0
Aggregate dividend payment | $ 13.0 | $ 0.0 | $ 0.0

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