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Shareholders' Equity - Preferred Stock and Dividends Paid Per Share (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Capital Unit [Line Items]    
Preferred stock, shares issued (in shares) 5,700,000 5,700,000
Preferred stock, carrying value $ 137,794 $ 137,794
Fixed-to-Floating Rate Non-Cumulative Perpetual Preferred Stock, Series E, par value $1.00 per share    
Capital Unit [Line Items]    
Preferred stock, shares issued (in shares) 2,300,000 2,300,000
Preferred stock, carrying value $ 55,593 $ 55,593
Preferred stock, fixed dividend rate 6.45%  
Preferred stock, dividends paid (usd per share) $ 1.69  
Fixed-to-Floating Rate Non-Cumulative Perpetual Preferred Stock, Series E, par value $1.00 per share | London Interbank Offered Rate (LIBOR)    
Capital Unit [Line Items]    
Preferred stock, floating dividend rate 5.14%  
Fixed-to-Floating Rate Non-Cumulative Perpetual Preferred Stock, Series F, par value $1.00 per share    
Capital Unit [Line Items]    
Preferred stock, shares issued (in shares) 3,400,000 3,400,000
Preferred stock, carrying value $ 82,201 $ 82,201
Preferred stock, fixed dividend rate 6.00%  
Preferred stock, dividends paid (usd per share) $ 1.60  
Fixed-to-Floating Rate Non-Cumulative Perpetual Preferred Stock, Series F, par value $1.00 per share | London Interbank Offered Rate (LIBOR)    
Capital Unit [Line Items]    
Preferred stock, floating dividend rate 4.762%