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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
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