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CONSOLIDATED STATEMENTS OF CHANGES IN EQUITY (Parenthetical) - $ / shares | 12 Months Ended
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Dec. 31, 2016 | Dec. 31, 2015 | Dec. 31, 2014
Series A Preferred Stock |  |  |
Preferred stock dividend rate (in dollars per share) | $ 3.49 | $ 3.48 | $ 2.61
Series B Preferred Stock |  |  |
Preferred stock dividend rate (in dollars per share) | $ 2.41 | $ 2.06 | $ 1.47

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