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Consolidated Statements of Changes in Shareholders' Equity (Parenthetical) - $ / shares | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Series C Preferred Stock |  |  |
Preferred stock, dividends paid (usd per share) | $ 1.58 | $ 1.75 | $ 1.75
Series D Preferred Stock |  |  |
Preferred stock, dividends paid (usd per share) | 1.63 | 1.63 | 1.63
Series E Preferred Stock |  |  |
Preferred stock, dividends paid (usd per share) | 1.61 | 1.61 | 1.61
Series F Preferred Stock |  |  |
Preferred stock, dividends paid (usd per share) | $ 1.50 | $ 1.50 | $ 1.50

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