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Shareholders' Equity - Narrative (Details) - USD ($)
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Apr. 30, 2022
Class of Stock [Line Items]      
Stock repurchase program, authorized amount     $ 150,000,000
Preferred stock, authorized (in shares) 50,000,000 50,000,000  
Preferred stock, par value (in dollars per share) $ 0.01 $ 0.01  
Preferred stock, issued (in shares) 10,600,000 10,600,000  
Preferred stock, outstanding (in shares) 10,600,000 10,600,000  
Preferred stock, aggregate liquidation preference $ 850,000,000 $ 850,000,000  
Class A Common Stock      
Class of Stock [Line Items]      
Common stock, authorized (in shares) 500,000,000 500,000,000  
Common stock, par value (in dollars per share) $ 0.01 $ 0.01  
Common stock, issued (in shares) 111,027,252 110,892,097  
Common stock, outstanding (in shares) 111,027,252 110,892,097  
Number of shares repurchased (in shares)   3,420,874  
Shares repurchased, average cost (in dollars per share)   $ 43.85  
Class B Non‑Voting Common Stock      
Class of Stock [Line Items]      
Common stock, authorized (in shares) 10,000,000 10,000,000  
Common stock, par value (in dollars per share) $ 0.01 $ 0.01  
Common stock, issued (in shares) 0 0  
Common stock, outstanding (in shares) 0 0  
Series A Preferred Stock      
Class of Stock [Line Items]      
Preferred stock, par value (in dollars per share) $ 0.01 $ 0.01  
Preferred stock, issued (in shares) 10,000,000 10,000,000  
Preferred stock, outstanding (in shares) 10,000,000 10,000,000  
Preferred stock, dividend rate 6.15% 6.15%  
Preferred stock, aggregate liquidation preference $ 250,000,000 $ 250,000,000  
Preferred stock, liquidation preference (in dollars per share) $ 25.00 $ 25.00  
Series B Preferred Stock      
Class of Stock [Line Items]      
Preferred stock, par value (in dollars per share) $ 0.01 $ 0.01  
Preferred stock, issued (in shares) 300,000 300,000  
Preferred stock, outstanding (in shares) 300,000 300,000  
Preferred stock, dividend rate 4.65% 4.65%  
Preferred stock, aggregate liquidation preference $ 300,000,000 $ 300,000,000  
Preferred stock, liquidation preference (in dollars per share) $ 1,000 $ 1,000  
Series C Preferred Stock      
Class of Stock [Line Items]      
Preferred stock, par value (in dollars per share) $ 0.01 $ 0.01  
Preferred stock, issued (in shares) 300,000 300,000  
Preferred stock, outstanding (in shares) 300,000 300,000  
Preferred stock, dividend rate 4.125% 4.125%  
Preferred stock, aggregate liquidation preference $ 300,000,000 $ 300,000,000  
Preferred stock, liquidation preference (in dollars per share) $ 1,000 $ 1,000