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Equity (Details) - USD ($)
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Oct. 31, 2022
Class of Stock [Line Items]          
Repurchase of common stock authorized by board of directors         $ 60,000,000
Common stock repurchased, value   $ 65,000   $ 5,245,000  
Common stock repurchased, average price per share (in dollars per share)       $ 33.98  
Dividend rate (as a percent)     6.50%    
Dividend rate, percentage thereafter     8.50%    
Preferred stock dividends paid     $ 2,400,000 $ 2,400,000  
Redemption price (in dollars per share) $ 20.00   $ 20.00    
Common Stock          
Class of Stock [Line Items]          
Common stock repurchased (in shares) 0   0 154,215  
Common stock repurchased, value       $ 1,000