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Consolidated Statements of Redeemable Preferred Stock and Shareholders' Equity (Parenthetical) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Statement of Stockholders' Equity [Abstract]
Net unrealized loss from currency translation adjustments, tax benefit	$ 115,000	$ 302,000
Net unrealized gain from derivative instruments, tax expense	4,143,000	$ 6,421,000
Net realized gain from derivative instruments, tax expense	$ 55,000
Preferred stock, dividends (in dollars per share)	$ 1.33	$ 1.30

X

- Definition

Amount of tax expense (benefit), after reclassification adjustments of gain (loss) on foreign currency translation adjustments, foreign currency transactions designated and effective as economic hedges of a net investment in a foreign entity and intra-entity foreign currency transactions that are of a long-term-investment nature, attributable to parent entity.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Topic 810
-SubTopic 10
-Name Accounting Standards Codification
-Section 45
-Paragraph 19
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147481231/810-10-45-19

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-Section 50
-Paragraph 1A
-Subparagraph (c)(3)
-SubTopic 10
-Topic 810
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147481203/810-10-50-1A

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- Definition

Amount, after reclassification, of tax expense (benefit) for gain (loss) from derivative instrument designated and qualifying as cash flow hedge included in assessment of hedge effectiveness, attributable to parent.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 220
-SubTopic 10
-Name Accounting Standards Codification
-Section 45
-Paragraph 12
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482790/220-10-45-12

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- Definition

Aggregate dividends paid during the period for each share of preferred stock outstanding.

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Other Comprehensive Income (Loss), Cash Flow Hedge, Realized Gain (Loss), after Reclassification, Tax, Parent

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