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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