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Condensed Consolidated Statement of Shareholders' Equity (Unaudited) (Parenthetical) - USD ($)
$ in Millions
 3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Dividends on common stock per share $ 0.36 $ 0.32
7% Series A Preferred Stock    
Preferred stock, dividend rate (as a percent) 7.00%  
7% Series A Preferred Stock | Preferred stock    
Preferred stock, dividend rate (as a percent) 7.00% 7.00%
Dividends on preferred stock per share $ 1.75 $ 1.75
6% Series B Preferred Stock    
Preferred stock, dividend rate (as a percent) 6.00%  
6% Series B Preferred Stock | Preferred stock    
Preferred stock, dividend rate (as a percent) 6.00% 6.00%
Dividends on preferred stock per share $ 60.00 $ 60.00
6% Series C Preferred Stock    
Preferred stock, dividend rate (as a percent) 6.00%  
6% Series C Preferred Stock | Preferred stock    
Preferred stock, dividend rate (as a percent) 6.00% 6.00%
Dividends on preferred stock per share $ 60.00 $ 60.00
8.25% Series D Preferred Stock    
Preferred stock, dividend rate (as a percent) 8.25%  
8.25% Series D Preferred Stock | Preferred stock    
Preferred stock, dividend rate (as a percent) 8.25% 8.25%
Dividends on preferred stock per share $ 82.50 $ 82.50