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Consolidated Statements of Changes in Equity (Parenthetical) - $ / shares | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Cash dividends declared on Common Shares (in dollars per share) | $ 0.82 | $ 0.79 | $ 0.75
Series D Preferred Stock |  |  |
Cash dividends declared on Preferred Stock (in dollars per share) | 50.00 | 50.00 | 50.00
Series E Preferred Stock |  |  |
Cash dividends declared on Preferred Stock (in dollars per share) | 1.531252 | 1.531252 | 1.531252
Series F Preferred Stock |  |  |
Cash dividends declared on Preferred Stock (in dollars per share) | 1.4125 | 1.4125 | 1.4125
Series G Preferred Stock |  |  |
Cash dividends declared on Preferred Stock (in dollars per share) | 1.406252 | 1.406252 | $ 1.406252
Series H Preferred Stock |  |  |
Cash dividends declared on Preferred Stock (in dollars per share) | $ 1.55 | $ 0.477917 |

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