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Shareholders' Equity - Preferred Stock and Dividends Paid Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands | 3 Months Ended | 9 Months Ended |
--- | --- | --- | ---
Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022 | Dec. 31, 2022
Capital Unit [Line Items] |  |  |  |  |
Preferred stock, shares issued (shares) | 5,700,000 |  | 5,700,000 |  | 5,700,000
Preferred stock, value | $ 137,794 |  | $ 137,794 |  | $ 137,794
Series E Preferred Stock |  |  |  |  |
Capital Unit [Line Items] |  |  |  |  |
Preferred stock, shares issued (shares) | 2,300,000 |  | 2,300,000 |  | 2,300,000
Preferred stock, value | $ 55,593 |  | $ 55,593 |  | $ 55,593
Initial Fixed Rate |  |  | 6.45% |  |
Preferred stock, dividends, per share, cash paid (usd per share) | $ 0.6831 | $ 0.445233 | $ 1.941704 | $ 1.160316 |
Series E Preferred Stock | London Interbank Offered Rate (LIBOR) |  |  |  |  |
Capital Unit [Line Items] |  |  |  |  |
Floating rate of Three-Month LIBOR Plus: |  |  | 5.14% |  |
Series F Preferred Stock |  |  |  |  |
Capital Unit [Line Items] |  |  |  |  |
Preferred stock, shares issued (shares) | 3,400,000 |  | 3,400,000 |  | 3,400,000
Preferred stock, value | $ 82,201 |  | $ 82,201 |  | $ 82,201
Initial Fixed Rate |  |  | 6.00% |  |
Preferred stock, dividends, per share, cash paid (usd per share) | $ 0.658950 | $ 0.421083 | $ 1.869779 | $ 1.088391 |
Series F Preferred Stock | London Interbank Offered Rate (LIBOR) |  |  |  |  |
Capital Unit [Line Items] |  |  |  |  |
Floating rate of Three-Month LIBOR Plus: |  |  | 4.762% |  |

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- Definition Total number of nonredeemable preferred shares (or preferred stock redeemable solely at the option of the issuer) issued to shareholders (includes related preferred shares that were issued, repurchased, and remain in the treasury). May be all or portion of the number of preferred shares authorized. Excludes preferred shares that are classified as debt. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 505 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 13 -Subparagraph (a) -Publisher FASB -URI https://asc.fasb.org//1943274/2147481112/505-10-50-13 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Topic 210 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02(28)) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480566/210-10-S99-1 + Details
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