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Equity (Details 2) - USD ($)
 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Dec. 31, 2020
Jul. 31, 2020
Class of Stock [Line Items]        
Common stock, shares authorized (in shares) 280,000,000   280,000,000  
Preferred stock, shares authorized (in shares) 50,000,000   50,000,000  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period 2,126      
Common stock issued through the dividend reinvestment plan (in shares) 1,561 1,183    
Number of shares of stock grants withheld (in shares) 74,726 73,089    
Stock Issued During Period, Shares, Employee Stock Purchase Plans 12,145      
Stock issued during period, shares, share-based compensation, forfeited (in shares) 709      
Treasury Stock, Shares, Acquired 0      
Stock Repurchase Program, Remaining Authorized Repurchase Amount $ 316,148,000      
Issuance of common stock, net 2,372,000 $ 1,613,000    
2020 Stock Repurchase Program [Member]        
Class of Stock [Line Items]        
Stock Repurchase Program, Authorized Amount       $ 500,000,000
Amended 2005 Stock Repurchase Program [Member]        
Class of Stock [Line Items]        
Stock Repurchase Program, Authorized Amount       $ 500,000,000
Continuous Equity Program CEP V [Member]        
Class of Stock [Line Items]        
Maximum value of shares of common stock that can be sold (in dollars) 1,000,000,000      
Common stock value, remaining to be authorized under continuous equity program 752,878,000      
Issuance of common stock, net $ 0      
Maximum | Continuous Equity Program CEP V [Member]        
Class of Stock [Line Items]        
Percentage of compensation received by sales agent 1.50%      
Restricted Stock and Restricted Stock Converted From Performance Shares        
Class of Stock [Line Items]        
Equity instruments granted (in shares) 151,186 164,526