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Stockholders' Equity (Details) - USD ($)
$ / shares in Units, $ in Millions
 1 Months Ended 3 Months Ended 12 Months Ended
Apr. 30, 2020
Mar. 31, 2023
Mar. 31, 2022
Dec. 31, 2022
Nov. 30, 2022
Nov. 29, 2022
Apr. 20, 2020
Dec. 31, 2019
Class of Stock [Line Items]                
Common stock, outstanding (in shares)   104,157,910   104,141,899        
Common stock, issued (in shares)   104,157,910   104,141,899        
Preferred stock, authorized (in shares)   30,000,000            
Common stock dividend rate (in dollars per share)   $ 1.60   $ 1.60        
Common stock, monthly dividend rate (in dollars per share)   $ 0.40   $ 0.40        
Series A Preferred Stock                
Class of Stock [Line Items]                
Preferred stock, authorized (in shares)   9,959,650   9,959,650        
Preferred stock, issued (in shares)   6,799,467   6,799,467        
Preferred stock, outstanding (in shares)   6,799,467   6,799,467        
Preferred stock, par value (in dollars per share)   $ 0.01   $ 0.01        
Preferred stock, quarterly dividend (in dollars per share)   $ 0.453125            
Preferred stock, dividend rate   7.25%   7.25%        
Preferred stock, liquidation preference (in dollars per share)   $ 25.00   $ 25.00        
Series B Preferred Stock                
Class of Stock [Line Items]                
Preferred stock, authorized (in shares)   11,450,000   11,450,000        
Preferred stock, issued (in shares)   4,695,887   4,695,887        
Preferred stock, outstanding (in shares)   4,695,887            
Preferred stock, par value (in dollars per share)   $ 0.01   $ 0.01        
Preferred stock, quarterly dividend (in dollars per share)   $ 0.429688            
Preferred stock, dividend rate   6.875%   6.875%        
Preferred stock, liquidation preference (in dollars per share)   $ 25.00   $ 25.00        
Series C Preferred Stock                
Class of Stock [Line Items]                
Preferred stock, authorized (in shares)   100,000   100,000        
Preferred stock, issued (in shares)   0   0        
Preferred stock, outstanding (in shares)   0   0        
Preferred stock, par value (in dollars per share)   $ 0.01   $ 0.01        
Preferred share purchase right basis per share (in shares)             0.001  
Exercise price (in dollars per share) $ 50.00              
Percent of outstanding shares acquired 4.90%              
Agent | At-the-Market Program                
Class of Stock [Line Items]                
Aggregate common stock offering price         $ 285.0 $ 500.0    
Agent | At-the-Market Program | Series B Preferred Stock                
Class of Stock [Line Items]                
Aggregate common stock offering price         $ 170.0     $ 200.0
Number of shares issued (in shares)   0 0          
Advisor | At-the-Market Program                
Class of Stock [Line Items]                
Number of shares issued (in shares)   0 0