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Stockholders' Equity - Preferred Stock (Details) - USD ($)
shares in Thousands, $ in Thousands
 3 Months Ended
Mar. 31, 2023
Dec. 31, 2022
Class of Stock [Line Items]    
Preferred stock, shares outstanding (in shares) 33,108 33,111
Par Value $ 331  
Preferred stock, liquidation preference $ 827,711 $ 827,779
Series H    
Class of Stock [Line Items]    
Dividend Rate Per Annum 7.125%  
Preferred stock, shares outstanding (in shares) 8,429  
Par Value $ 84  
Preferred stock, liquidation preference $ 210,731  
Series I    
Class of Stock [Line Items]    
Dividend Rate Per Annum 7.15%  
Preferred stock, shares outstanding (in shares) 12,988  
Par Value $ 130  
Preferred stock, liquidation preference $ 324,710  
Series J    
Class of Stock [Line Items]    
Dividend Rate Per Annum 7.125%  
Preferred stock, shares outstanding (in shares) 11,691  
Par Value $ 117  
Preferred stock, liquidation preference $ 292,270