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Shareholders' Equity Preferred stock (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 15, 2019
Sep. 15, 2019
Jun. 15, 2019
Mar. 05, 2019
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2010
Class of Stock [Line Items]              
Common stock, shares issued       10,000,000      
Preferred stock, shares authorized         50,000,000 50,000,000  
Preferred stock, par value (in dollars per share)       $ 0.01 $ 0.01 $ 0.01  
Preferred Stock, shares issued         10,000,000 0  
Preferred Stock, shares outstanding         10,000,000 0  
Preferred Stock, Liquidation Preference, Value         $ 250,000    
Preferred Stock, rate (as a percent)       6.15% 6.15%    
Preferred Stock, Liquidation Preference, per share       $ 25.00      
Preferred Stock, state amount       $ 25.00      
Dividend Payable Beginning on 15 June 2019              
Class of Stock [Line Items]              
Preferred Stock, rate (as a percent)       6.15%      
Preferred Stock, term       5 years      
Dividend Payable Beginning on 15 March 2024              
Class of Stock [Line Items]              
Preferred Stock, redemption price (in dollars per share)         $ 25.00    
Dividend Payable Beginning on 15 March 2024 | Three-Month LIBOR              
Class of Stock [Line Items]              
Preferred Stock, spread       3.65%      
Class A Common Stock              
Class of Stock [Line Items]              
Common Stock, authorized shares         500,000,000 500,000,000 500,000,000
Common Stock, par value (in dollars per share)         $ 0.01 $ 0.01 $ 0.01
Common stock, shares issued         113,350,267 110,949,850  
Common stock, shares outstanding         113,350,267 110,949,850  
Class B Non-Voting Common Stock              
Class of Stock [Line Items]              
Common Stock, authorized shares         10,000,000 10,000,000  
Common Stock, par value (in dollars per share)         $ 0.01 $ 0.01  
Common stock, shares issued         0 0  
Common stock, shares outstanding         0 0  
Series A Preferred Stock              
Class of Stock [Line Items]              
Cash dividends $ 0.384375 $ 0.384375 $ 0.427083