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Stockholders' Equity - Preferred Stock (Details) - USD ($)
shares in Thousands, $ in Thousands
 6 Months Ended
Jun. 30, 2023
Dec. 31, 2022
Class of Stock [Line Items]    
Preferred stock, shares outstanding (in shares) 32,876 33,111
Par Value $ 329  
Preferred stock, liquidation preference $ 821,899 $ 827,779
Series H    
Class of Stock [Line Items]    
Dividend Rate Per Annum 7.125%  
Preferred stock, shares outstanding (in shares) 8,395  
Par Value $ 84  
Preferred stock, liquidation preference $ 209,870  
Series I    
Class of Stock [Line Items]    
Dividend Rate Per Annum 7.15%  
Preferred stock, shares outstanding (in shares) 12,867  
Par Value $ 129  
Preferred stock, liquidation preference $ 321,668  
Series J    
Class of Stock [Line Items]    
Dividend Rate Per Annum 7.125%  
Preferred stock, shares outstanding (in shares) 11,614  
Par Value $ 116  
Preferred stock, liquidation preference $ 290,361