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Stockholders' Equity of the Company - At-the-Market Equity Offering Program and Perpetual Preferred Stock (Details) - Series I Preferred Stock - USD ($) $ / shares in Units, $ in Millions | 1 Months Ended | 12 Months Ended |
--- | --- | --- | ---
Aug. 31, 2012 | Dec. 31, 2023 | Dec. 31, 2022
Stockholders' Equity |  |  |
Preferred stock, shares outstanding (in shares) |  | 9,200,000 | 9,200,000
Dividend rate preferred units (as a percent) |  | 6.50% |
Perpetual Preferred stock, liquidation preference (in dollars per share) |  | $ 25.00 | $ 25.00
Perpetual Preferred stock, annual dividends per share (in dollars per share) |  | $ 1.625 |
Contributions of net proceeds from sale of preferred stock | $ 221.9 |  |

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