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Shareholders' Equity - Perpetual Preferred Shares (Details) - USD ($)
$ / shares in Units, $ in Thousands
 1 Months Ended 3 Months Ended
Apr. 30, 2017
Mar. 31, 2017
Mar. 31, 2016
Class of Stock [Line Items]      
Stock issuance costs   $ 236 $ 0
Underwritten Public Offering | Subsequent Event | Series F Redeemable Preferred Perpetual      
Class of Stock [Line Items]      
Shares issued during period (in shares) 6,000,000    
Preferred stock, dividend rate, percentage 5.875%    
Proceeds from issuance of preferred stock $ 150,000    
Stock issuance costs $ 5,000    
Liquidation preference per share (in USD per share) $ 25.00