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Consolidated Statements of Changes in Shareholders' Equity (Parenthetical) - $ / shares
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Accounting standards update [Extensible Enumeration]     Accounting Standards Update 2016-13 [Member] Accounting Standards Update 2016-02
Common stock, dividends, per share, declared (in dollars per share) $ 1.32 $ 1.32 $ 1.20  
Series D Preferred Stock        
Dividends declared on preferred stock during the year but paid after year-end (in dollars per share) 1.58 1.58 1.58  
Series E Preferred Stock        
Dividends declared on preferred stock during the year but paid after year-end (in dollars per share) $ 1.47 $ 1.47 $ 0.73