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Equity (Details) - USD ($) |  | 1 Months Ended | 3 Months Ended | 9 Months Ended | 57 Months Ended |  |
--- | --- | --- | --- | --- | --- | --- | ---
Sep. 19, 2020 | May 31, 2020 | Sep. 30, 2020 | Jun. 30, 2020 | Mar. 31, 2020 | Dec. 31, 2019 | Sep. 30, 2019 | Jun. 30, 2019 | Mar. 31, 2019 | Sep. 30, 2020 | Sep. 30, 2019 | Jun. 30, 2020 | Mar. 14, 2019 | Mar. 31, 2016
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Loss on retirement of preferred stock |  |  | $ 1,667,000 |  |  |  | $ 0 | $ 1,956,000 |  | $ 1,667,000 | $ 1,956,000 |  |  |
Quarterly dividend on all classes of common stock (in dollars per share) |  |  | $ 0.80 | $ 0.80 | $ 0.80 | $ 0.70 | $ 0.70 | $ 0.70 | $ 0.70 |  |  |  |  |
Capital required for capital adequacy |  |  | $ 670,000,000.0 |  |  | $ 618,800,000 |  |  |  | 670,000,000.0 |  |  |  |
Capital |  |  | 984,200,000 |  |  | 815,400,000 |  |  |  | 984,200,000 |  |  |  |
Excess capital |  |  | $ 314,200,000 |  |  | $ 196,600,000 |  |  |  | $ 314,200,000 |  |  |  |
5.250% Non-Cumulative Preferred Stock, Series F |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of shares issued (in shares) |  | 4,800,000 |  |  |  |  |  |  |  |  |  |  |  |
Preferred stock, dividend rate (as a percent) |  | 5.25% |  |  |  |  |  |  |  |  |  |  |  |
Preferred stock, par value (in dollars per share) |  | $ 25.00 | $ 25 |  |  | $ 25 |  |  |  | $ 25 |  |  |  |
Payments of stock issuance costs |  | $ 3,800,000 |  |  |  |  |  |  |  |  |  |  |  |
Series A Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Preferred stock, dividend rate (as a percent) | 5.875% |  |  |  |  |  |  |  |  |  |  |  |  |
Preferred stock, par value (in dollars per share) |  |  | 25 |  |  | 25 |  |  |  | 25 |  |  |  |
Stock authorized for repurchase | $ 60,000,000.0 |  |  |  |  |  |  |  |  |  |  |  |  |
Loss on retirement of preferred stock | $ 1,700,000 |  |  |  |  |  |  |  |  |  |  |  |  |
Series E Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of shares issued (in shares) |  | 3,180,000 |  |  |  |  |  |  |  |  |  |  |  |
Preferred stock, dividend rate (as a percent) |  | 5.75% |  |  |  |  |  |  |  |  |  |  |  |
Preferred stock, par value (in dollars per share) |  | $ 25.00 | $ 25 |  |  | $ 25 |  |  |  | $ 25 |  |  |  |
Payments of stock issuance costs |  | $ 2,500,000 |  |  |  |  |  |  |  |  |  |  |  |
Class C non-voting common stock |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock authorized for repurchase |  |  |  |  |  |  |  |  |  |  |  |  | $ 10,000,000.0 | $ 25,000,000.0
Shares repurchased (in shares) |  |  |  | 4,000 |  |  |  |  |  |  |  | 673,000 |  |
Shares repurchased |  |  |  | $ 200,000 |  |  |  |  |  |  |  | $ 19,800,000 |  |

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