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CONSOLIDATED STATEMENTS OF CHANGES IN STOCKHOLDERS' EQUITY (Parenthetical) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Preferred stock, dividend rate 7.50% 7.50%  
Common Stock      
Adjustments related to tax withholding for share-based compensation $ 4.1 $ 3.4 $ 6.0
Shares paid for tax withholding for share based compensation (in shares) 562,815 464,429 744,588
Preferred Stock | Series B Preferred Stock      
Preferred stock, dividend rate 7.50% 7.50% 7.50%
Preferred stock, liquidation preference (in dollars per share) $ 25.00 $ 25 $ 25