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Shareholders' Equity (Details) - USD ($)
1 Months Ended 3 Months Ended 6 Months Ended
Jun. 30, 2022
Jun. 15, 2022
Mar. 31, 2022
Mar. 15, 2022
Jul. 31, 2021
Jun. 30, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
May 16, 2022
Dec. 31, 2021
Aug. 11, 2021
Jul. 12, 2021
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     30,000    
Dividends per common share (in dollars per share)           $ 0.37 $ 0.36 $ 0.74 $ 0.72        
Dividends paid per common share (in dollars per share) $ 0.37   $ 0.37                    
Dividends declared and paid, preference shares           $ 8,844,000 $ 7,289,000 $ 17,688,000 $ 14,578,000        
Dividends declared and paid, common shares               $ 32,400,000 $ 35,000,000        
Series G Preferred Stock                          
Class of Stock [Line Items]                          
Proceeds from issuance         $ 500,000,000                
Shares issued (in shares)         20,000                
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         1,050   1,050         $ 25,000
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          
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                          
Class of Stock [Line Items]                          
Percentage interest in underlying shares         0.10%                
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          
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          
Common Shares                          
Class of Stock [Line Items]                          
Dividends per common share (in dollars per share)   $ 0.37   $ 0.37                  
Share repurchase program, authorized amount                   $ 500,000,000      
Share repurchase program, shares repurchased (in shares)               874,912          
Repurchase of shares               $ 137,500,000          
Share repurchase program, price per share (in dollars per share)               $ 157.19          
Remaining authorized repurchase amount $ 475,200,000         $ 475,200,000   $ 475,200,000          
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