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Shareholders' Equity - Preferred Stock and Dividends Paid Per Share (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Dec. 31, 2023
Capital Unit [Line Items]      
Preferred stock, shares issued (shares) 5,700,000   5,700,000
Preferred stock, value $ 137,794   $ 137,794
Series E Preferred Stock      
Capital Unit [Line Items]      
Preferred stock, shares issued (shares) 2,300,000   2,300,000
Preferred stock, value $ 55,593   $ 55,593
Initial Fixed Rate 6.45%    
Preferred stock, dividends, per share, cash paid (usd per share) $ 0.681630 $ 0.619313  
Series E Preferred Stock | SOFR      
Capital Unit [Line Items]      
Floating rate of Three-Month SOFR Plus 5.14%    
Series F Preferred Stock      
Capital Unit [Line Items]      
Preferred stock, shares issued (shares) 3,400,000   3,400,000
Preferred stock, value $ 82,201   $ 82,201
Initial Fixed Rate 6.00%    
Preferred stock, dividends, per share, cash paid (usd per share) $ 0.657743 $ 0.595688  
Series F Preferred Stock | SOFR      
Capital Unit [Line Items]      
Floating rate of Three-Month SOFR Plus 4.762%