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Equity - Narrative (Details) - USD ($) | 1 Months Ended | 3 Months Ended | 6 Months Ended |  |
--- | --- | --- | --- | --- | ---
May 31, 2021 | Jun. 30, 2021 | Mar. 31, 2021 | Dec. 31, 2020 | Sep. 30, 2020 | Jun. 30, 2020 | Mar. 31, 2020 | Jun. 30, 2021 | Mar. 14, 2019 | Sep. 30, 2015
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Quarterly dividend on all classes of common stock (in dollars per share) |  | $ 0.88 | $ 0.88 | $ 0.80 | $ 0.80 | $ 0.80 | $ 0.80 |  |  |
Capital required for capital adequacy |  | $ 680,800,000 |  | $ 680,900,000 |  |  |  | $ 680,800,000 |  |
Capital |  | 1,200,000,000 |  | 1,000,000,000.0 |  |  |  | 1,200,000,000 |  |
Excess capital |  | $ 482,600,000 |  | $ 325,500,000 |  |  |  | $ 482,600,000 |  |
Series G |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Number of shares issued (in shares) | 5,000,000.0 |  |  |  |  |  |  |  |  |
Preferred stock, dividend rate | 4.875% |  |  |  |  |  |  |  |  |
Preferred stock, par value (in dollars per share) | $ 25.00 | $ 25 |  | $ 25 |  |  |  | $ 25 |  |
Payments of stock issuance costs | $ 3,700,000 |  |  |  |  |  |  |  |  |
Class C non-voting common stock |  |  |  |  |  |  |  |  |  |
Class of Stock [Line Items] |  |  |  |  |  |  |  |  |  |
Stock authorized for repurchase |  |  |  |  |  |  |  |  | $ 10,000,000.0 | $ 25,000,000.0
Remaining authorized amount for repurchase |  |  |  |  |  | $ 9,800,000 |  |  |  |
Shares repurchased (in shares) |  | 0 |  |  |  |  | 4,000 | 673,000 |  |
Shares repurchased |  |  |  |  |  |  | $ 200,000 | $ 19,800,000 |  |

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