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Shareholders' Equity (Details) - USD ($) |  |  |  |  |  |  |  |  | 3 Months Ended | 9 Months Ended |  |  |  |
--- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Sep. 30, 2021 | Sep. 15, 2021 | Jul. 12, 2021 | Jun. 30, 2021 | Jun. 15, 2021 | Mar. 31, 2021 | Mar. 15, 2021 | Jun. 05, 2020 | Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020 | Aug. 11, 2021 | Jul. 28, 2021 | Dec. 31, 2020 | Mar. 26, 2020
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Preference shares, par value (in dollars per share) | $ 1.00 |  |  |  |  |  |  |  | $ 1.00 |  | $ 1.00 |  |  |  | $ 1.00 |
Preference shares, shares outstanding (in shares) | 30,000 |  |  |  |  |  |  |  | 30,000 |  | 30,000 |  |  |  | 11,010,000 |
Dividends per common share (in dollars per share) |  |  |  |  |  |  |  |  | $ 0.36 | $ 0.35 | $ 1.08 | $ 1.05 |  |  |  |
Dividends paid per common share (in dollars per share) | $ 0.36 |  |  | $ 0.36 |  | $ 0.36 |  |  |  |  |  |  |  |  |  |
Dividends declared and paid, preference shares |  |  |  |  |  |  |  |  | $ 9,845,000 | $ 7,289,000 | $ 24,423,000 | $ 23,634,000 |  |  |  |
Dividends declared and paid, common shares |  |  |  |  |  |  |  |  |  |  | $ 51,700,000 | $ 50,800,000 |  |  |  |
Common Shares |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Proceeds from issuance |  |  |  |  |  |  |  | $ 1,100,000,000 |  |  |  |  |  |  |  |
Dividends per common share (in dollars per share) |  | $ 0.36 |  |  | $ 0.36 |  | $ 0.36 |  |  |  |  |  |  |  |  |
Share repurchase program, authorized amount |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 500,000,000 |  |
Share repurchase program, shares repurchased (in shares) |  |  |  |  |  |  |  |  |  |  | 4,502,448 |  |  |  |  |
Repurchase of shares |  |  |  |  |  |  |  |  |  |  | $ 704,500,000 |  |  |  |  |
Share repurchase program, price per share (in dollars per share) |  |  |  |  |  |  |  |  |  |  | $ 156.46 |  |  |  |  |
Share repurchase program, remaining authorized aggregate amount | $ 421,800,000 |  |  |  |  |  |  |  | $ 421,800,000 |  | $ 421,800,000 |  |  |  |  |
Common Shares | Underwritten Follow-On Offering |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Shares issued (in shares) |  |  |  |  |  |  |  | 6,325,000 |  |  |  |  |  |  |  |
Price of shares issued (in dollars per share) |  |  |  |  |  |  |  | $ 166.00 |  |  |  |  |  |  |  |
Common Shares | Private Placement |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Shares issued (in shares) |  |  |  |  |  |  |  | 451,807 |  |  |  |  |  |  |  |
Proceeds from issuance |  |  |  |  |  |  |  | $ 75,000,000 |  |  |  |  |  |  |  |
Series G Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Shares issued (in shares) |  |  | 20,000 |  |  |  |  |  |  |  |  |  |  |  |  |
Proceeds from issuance |  |  | $ 488,700,000 |  |  |  |  |  |  |  |  |  |  |  |  |
Dividend rate, percentage |  |  |  |  |  |  |  |  |  |  | 4.20% |  |  |  |  |
Preference shares, par value (in dollars per share) | $ 1.00 |  |  |  |  |  |  |  | $ 1.00 |  | $ 1.00 |  |  |  |  |
Liquidation preference per annum (in dollars per share) | 1,050 |  | $ 25,000 |  |  |  |  |  | 1,050 |  | 1,050 |  |  |  |  |
Liquidation preference quarterly (in dollars per share) | 262.50 |  |  |  |  |  |  |  | 262.50 |  | 262.50 |  |  |  |  |
Series G Preferred Stock | On or after July 15, 2026 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Preference shares, redemption price per share (in dollars per share) | 25,000 |  |  |  |  |  |  |  | 25,000 |  | 25,000 |  |  |  |  |
Series G Preferred Stock | Prior to July 15, 2026 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Preference shares, redemption price per share (in dollars per share) | 25,000 |  |  |  |  |  |  |  | 25,000 |  | 25,000 |  |  |  |  |
Series G Preferred Stock | Prior to July 15, 2026 if proposal submitted |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Preference shares, redemption price per share (in dollars per share) | 26,000 |  |  |  |  |  |  |  | 26,000 |  | 26,000 |  |  |  |  |
Series G Preferred Stock | Prior to July 15, 2026 if a change in Bermuda law |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Preference shares, redemption price per share (in dollars per share) | 25,500 |  |  |  |  |  |  |  | 25,500 |  | 25,500 |  |  |  |  |
Depositary Shares, each representing a 1/1,000th interest in a Series G 4 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Shares issued (in shares) |  |  | 20,000,000 |  |  |  |  |  |  |  |  |  |  |  |  |
Depositary Shares | On or after July 15, 2026 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Preference shares, redemption price per share (in dollars per share) | 25.00 |  |  |  |  |  |  |  | 25.00 |  | 25.00 |  |  |  |  |
Depositary Shares | Prior to July 15, 2026 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Preference shares, redemption price per share (in dollars per share) | 25.00 |  |  |  |  |  |  |  | 25.00 |  | 25.00 |  |  |  |  |
Depositary Shares | Prior to July 15, 2026 if proposal submitted |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Preference shares, redemption price per share (in dollars per share) | 26.00 |  |  |  |  |  |  |  | 26.00 |  | 26.00 |  |  |  |  |
Depositary Shares | Prior to July 15, 2026 if a change in Bermuda law |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Preference shares, redemption price per share (in dollars per share) | 25.50 |  |  |  |  |  |  |  | 25.50 |  | $ 25.50 |  |  |  |  |
Series C Preference Shares |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Dividend rate, percentage |  |  |  |  |  |  |  |  |  |  | 6.08% |  |  |  |  |
Liquidation preference per annum (in dollars per share) | $ 1.52 |  |  |  |  |  |  |  | $ 1.52 |  | $ 1.52 |  |  |  |  |
Preference shares redemption value |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 125,000,000
Preference shares, shares outstanding (in shares) | 0 |  |  |  |  |  |  |  | 0 |  | 0 |  |  |  |  |
Liquidation preference quarterly (in dollars per share) | $ 0.38 |  |  |  |  |  |  |  | $ 0.38 |  | $ 0.38 |  |  |  |  |
Series E Preference Shares |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Dividend rate, percentage |  |  |  |  |  |  |  |  |  |  | 5.375% |  |  |  |  |
Liquidation preference per annum (in dollars per share) | $ 1.34375 |  |  |  |  |  |  |  | $ 1.34375 |  | $ 1.34375 |  |  |  |  |
Preference shares redemption value |  |  |  |  |  |  |  |  |  |  |  |  | $ 275,000,000 |  |  |
Preference shares, shares outstanding (in shares) | 0 |  |  |  |  |  |  |  | 0 |  | 0 |  |  |  |  |
Liquidation preference quarterly (in dollars per share) | $ 0.3359375 |  |  |  |  |  |  |  | $ 0.3359375 |  | $ 0.3359375 |  |  |  |  |
Series F Preference Shares |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Dividend rate, percentage |  |  |  |  |  |  |  |  |  |  | 5.75% |  |  |  |  |
Liquidation preference per annum (in dollars per share) | 1,437.5 |  |  |  |  |  |  |  | 1,437.5 |  | $ 1,437.5 |  |  |  |  |
Liquidation preference quarterly (in dollars per share) | 359.375 |  |  |  |  |  |  |  | 359.375 |  | 359.375 |  |  |  |  |
Series F Preferred Shares, Depositary Shares |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Liquidation preference per annum (in dollars per share) | 1.4375 |  |  |  |  |  |  |  | 1.4375 |  | 1.4375 |  |  |  |  |
Liquidation preference quarterly (in dollars per share) | 0.359375 |  |  |  |  |  |  |  | 0.359375 |  | 0.359375 |  |  |  |  |
Series G Preferred Shares, Depositary Shares |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Liquidation preference per annum (in dollars per share) | 1.05 |  |  |  |  |  |  |  | 1.05 |  | 1.05 |  |  |  |  |
Liquidation preference quarterly (in dollars per share) | $ 0.2625 |  |  |  |  |  |  |  | $ 0.2625 |  | $ 0.2625 |  |  |  |  |

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