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Equity (Details) - USD ($)
 3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2018
Class of Stock [Line Items]          
Repurchase of common stock authorized by Board of Directors         $ 60,000,000
Common stock repurchased (in shares)     135,118 55,426  
Common stock repurchased, value $ 5,138,000 $ 20,000 $ 5,138,000 $ 1,510,000  
Common stock repurchased, average price per share (in dollars per share)     $ 38.03 $ 27.24  
Remaining authorized stock repurchase amount $ 49,800,000   $ 49,800,000    
Dividend rate (as a percent)     6.50%    
Preferred stock dividends paid     $ 2,400,000 $ 2,400,000  
Common Stock          
Class of Stock [Line Items]          
Common stock repurchased (in shares) 135,000 1,000 135,000 56,000  
Common stock repurchased, value $ 1,000 $ 0 $ 1,000 $ 0