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Preferred Stock (Details)
 12 Months Ended
Sep. 30, 2022
USD ($)
shares
Sep. 27, 2022
USD ($)
$ / shares
shares
May 06, 2021
USD ($)
$ / shares
shares
Apr. 15, 2021
USD ($)
shares
Mar. 23, 2021
USD ($)
$ / shares
shares
Aug. 19, 2019
USD ($)
$ / shares
shares
Apr. 12, 2019
USD ($)
shares
Mar. 28, 2019
USD ($)
$ / shares
shares
Dec. 31, 2023
$ / shares
Dec. 31, 2022
USD ($)
$ / shares
Dec. 31, 2021
USD ($)
Feb. 28, 2024
$ / shares
Public Offering of Preferred Stock                        
Net proceeds                   $ 137,459,000 $ 191,084,000  
8% Preferred Stock                        
Public Offering of Preferred Stock                        
Redemption of 8% preferred stock (in shares) | shares       41,625                
Redemption of 8% preferred stock       $ 41,600,000                
Preferred stock, dividend rate (as a percent)     8.00% 8.00%                
Final dividend for redemption of 8% preferred stock       $ 139,000                
7% Series A Preferred Stock                        
Public Offering of Preferred Stock                        
Preferred stock, dividend rate (as a percent)                 7.00% 7.00%    
Preferred stock liquidation preference (in dollars per share) | $ / shares                 $ 25 $ 25   $ 25.00
7% Series A Preferred Stock | Public Offering                        
Public Offering of Preferred Stock                        
Shares issued (in shares) | shares             81,800 2,000,000        
Preferred stock, dividend rate (as a percent)               7.00%        
Preferred stock liquidation preference (in dollars per share) | $ / shares               $ 25.00        
Aggregate gross offering proceeds for the shares issued               $ 50,000,000.0        
Net proceeds             $ 2,000,000.0 48,300,000        
Offering costs               $ 1,700,000        
Underwriting discounts             $ 41,000          
6% Series B Preferred Stock                        
Public Offering of Preferred Stock                        
Preferred stock, dividend rate (as a percent)                 6.00% 6.00%    
Preferred stock liquidation preference (in dollars per share) | $ / shares                 $ 1,000 $ 1,000    
6% Series B Preferred Stock | Public Offering                        
Public Offering of Preferred Stock                        
Depositary shares issued (in shares) | shares           5,000,000            
Depositary shares equivalent preferred stock interest per share           0.025            
Preferred stock, dividend rate (as a percent)           6.00%            
Preferred stock liquidation preference (in dollars per share) | $ / shares           $ 1,000.00            
Depositary share, preferred stock liquidation preference (in dollars per share) | $ / shares           $ 25.00            
Aggregate gross offering proceeds for the shares issued           $ 125,000,000.0            
Net proceeds           120,800,000            
Underwriting discounts           $ 4,200,000            
6% Series C Preferred Stock                        
Public Offering of Preferred Stock                        
Shares issued (in shares) | shares     46,181                  
Depositary shares issued (in shares) | shares     1,847,233                  
Depositary share price (in dollars per share) | $ / shares     $ 25                  
Preferred stock, dividend rate (as a percent)                 6.00% 6.00%    
Preferred stock liquidation preference (in dollars per share) | $ / shares                 $ 1,000 $ 1,000    
Net proceeds     $ 46,200,000                  
Offering costs     $ 23,000                  
6% Series C Preferred Stock | Public Offering                        
Public Offering of Preferred Stock                        
Depositary shares issued (in shares) | shares         6,000,000              
Depositary shares equivalent preferred stock interest per share         0.025              
Preferred stock, dividend rate (as a percent)         6.00%              
Preferred stock liquidation preference (in dollars per share) | $ / shares         $ 1,000.00              
Depositary share, preferred stock liquidation preference (in dollars per share) | $ / shares         $ 25.00              
Aggregate gross offering proceeds for the shares issued         $ 150,000,000.0              
Net proceeds         144,900,000              
Underwriting discounts         $ 5,100,000              
8.25% Series D Preferred Stock                        
Public Offering of Preferred Stock                        
Preferred stock, dividend rate (as a percent)                 8.25% 8.25%    
Preferred stock liquidation preference (in dollars per share) | $ / shares                 $ 1,000 $ 1,000    
8.25% Series D Preferred Stock | Public Offering                        
Public Offering of Preferred Stock                        
Shares issued (in shares) | shares   5,200,000                    
Depositary shares equivalent preferred stock interest per share   0.025                    
Preferred stock, dividend rate (as a percent)   8.25%                    
Preferred stock liquidation preference (in dollars per share) | $ / shares   $ 1,000.00                    
Depositary share, preferred stock liquidation preference (in dollars per share) | $ / shares   $ 25.00                    
Aggregate gross offering proceeds for the shares issued   $ 130,000,000.0                    
Net proceeds   125,400,000                    
Underwriting discounts   $ 4,600,000                    
Series D Preferred Stock | Public Offering                        
Public Offering of Preferred Stock                        
Shares issued (in shares) | shares 500,000                      
Net proceeds $ 12,100,000                      
Underwriting discounts $ 400,000