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Note 15 - Stockholders' Equity - Outstanding Preferred Stock (Details) - USD ($)
$ / shares in Units, $ in Thousands
 9 Months Ended 12 Months Ended
Sep. 30, 2023
Dec. 31, 2022
Preferred stock, shares authorized (in shares) 7,054,000 7,054,000
Preferred stock, liquidation preference $ 484,179 $ 485,868
Preferred stock, par value (in dollars per share) $ 1.00 $ 1.00
Series L Preferred Stock [Member]    
Preferred stock, shares authorized (in shares) 10,350 10,350
Shares issued and outstanding (in shares) 8,902 8,946
Preferred stock, liquidation preference $ 222,543 $ 223,637
Dividend rate 5.125% 5.125%
Annual dividend per depository share (in dollars per share) $ 1.28125 $ 1.28125
Preferred stock, par value (in dollars per share) $ 1.00 $ 1.00
Redemption date Aug. 16, 2022 Aug. 16, 2022
Series M Preferred Stock [Member]    
Preferred stock, shares authorized (in shares) 10,580 10,580
Shares issued and outstanding (in shares) 10,465 10,489
Preferred stock, liquidation preference $ 261,636 $ 262,231
Dividend rate 5.25% 5.25%
Annual dividend per depository share (in dollars per share) $ 1.31250 $ 1.31250
Preferred stock, par value (in dollars per share) $ 1.00 $ 1.00
Redemption date Dec. 20, 2022 Dec. 20, 2022
Redeemable Preferred Stock [Member]    
Shares issued and outstanding (in shares) 19,367 19,435
Preferred stock, liquidation preference $ 484,179 $ 485,868