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Shareholders' Equity - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands | Jul. 01, 2022 | Oct. 29, 2020 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Feb. 28, 2021 | Dec. 31, 2020
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Equity, Class of Treasury Stock [Line Items] |  |  |  |  |  |  |
Preferred stock, shares authorized (in shares) |  |  | 10,000,000 | 10,000,000 |  |  |
Preferred stock, shares issued (in shares) |  |  | 200,000 | 200,000 |  |  |
Preferred stock, liquidation preference (in dollars per share) |  |  | $ 1,000 | $ 1,000 |  |  |
Residential mortgage |  |  |  |  |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |  |  |  |  |
Valuation Allowance for Impairment of Recognized Servicing Assets, Balance |  |  | $ 0 | $ 0 | $ (600) |  | $ (10,500)
Prudential |  |  |  |  |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |  |  |  |  |
Common shares issued (in shares) | 6,208,516 |  |  |  |  |  |
Depositary Shares |  |  |  |  |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |  |  |  |  |
Equivalent interest in share (as a percent) |  | 2.50% |  |  |  |  |
Depositary Shares |  |  |  |  |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |  |  |  |  |
Stock issued (in shares) |  | 8,000,000 |  |  |  |  |
Preferred stock, shares authorized (in shares) |  | 200,000 |  |  |  |  |
Preferred stock, shares issued (in shares) |  | 200,000 |  |  |  |  |
Preferred stock, liquidation preference (in dollars per share) |  | $ 25.00 |  |  |  |  |
Series A Preferred Stock |  |  |  |  |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |  |  |  |  |
Preferred stock dividend rate (as a percent) |  | 5.125% |  |  |  |  |
Preferred stock, liquidation preference (in dollars per share) |  | $ 1,000 |  |  |  |  |
Aggregate offering amount |  | $ 200,000 |  |  |  |  |
Common Stock | February 2021 Stock Repurchase Program |  |  |  |  |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |  |  |  |  |
Treasury stock, value |  |  |  |  |  | $ 75,000 |
Common Stock | 2023 Share Repurchase Program |  |  |  |  |  |  |
Equity, Class of Treasury Stock [Line Items] |  |  |  |  |  |  |
Treasury stock, value |  |  |  | $ 100,000 |  |  |

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