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Preferred Stock (Details)
 3 Months Ended 12 Months Ended
Sep. 30, 2022
USD ($)
shares
Sep. 27, 2022
USD ($)
$ / shares
shares
Mar. 23, 2021
USD ($)
$ / shares
shares
Aug. 19, 2019
USD ($)
$ / shares
shares
Apr. 12, 2019
USD ($)
shares
Mar. 28, 2019
USD ($)
$ / shares
shares
Mar. 31, 2024
$ / shares
Dec. 31, 2023
$ / shares
Feb. 28, 2024
$ / shares
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                  
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 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                  
Depositary shares issued (in shares) | shares   5,200,000              
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