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Stockholders' Equity - Dividends Declared (Details) - USD ($)
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Class of Stock [Line Items]      
Dividends declared on common stock (in dollars per share) $ 1.4 $ 1.40 $ 1.40
Dividends declared (in dollars per share) $ 1.81 $ 1.81 $ 1.90
Dividend declared, not yet paid $ 53,407,000 $ 53,711,000 $ 52,398,000
Common Stock      
Class of Stock [Line Items]      
Dividends declared on common stock (in dollars per share) $ 1.40 $ 1.40 $ 1.40
Dividend declared, not yet paid   $ 0.1185  
Series B-1 Preferred Stock      
Class of Stock [Line Items]      
Dividends declared (in dollars per share) $ 1.81 $ 1.81 0.90
Series B Preferred Stock      
Class of Stock [Line Items]      
Dividends declared (in dollars per share)     $ 1.00