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CONSOLIDATED STATEMENTS OF CHANGES IN SHAREHOLDERS' EQUITY (Parenthetical) - $ / shares
 3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Sep. 30, 2024
Sep. 30, 2023
Dec. 31, 2022
Cash dividends on common stock (in dollars per share) $ 0.38 $ 0.38 $ 1.14 $ 1.14  
Accounting standards update [Extensible List]         Accounting Standards Update 2023-02 [Member]
Series D Preferred Stock          
Cash dividends on preferred stock (in dollars per share) 0.57 0.57 1.71 1.35  
Series E Preferred Stock          
Cash dividends on preferred stock (in dollars per share) $ 0.52 $ 0.37 $ 1.26 $ 1.10