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CONSOLIDATED STATEMENTS OF CHANGES IN STOCKHOLDERS' EQUITY (UNAUDITED) (Parenthetical)
$ in Thousands
 6 Months Ended
Jun. 30, 2021
USD ($)
$ / shares
shares
Jun. 30, 2020
USD ($)
$ / shares
shares
Series C Preferred Stock    
Preferred Stock, dividend rate 6.50%  
Series B Preferred Stock    
Preferred Stock, dividend rate 7.50%  
Preferred Stock | Series C Preferred Stock    
Preferred Stock, dividend rate 6.50% 6.50%
Preferred Stock, liquidation preference per share (in dollars per share) $ 25.00 $ 25.00
Preferred Stock | Series B Preferred Stock    
Preferred Stock, dividend rate 7.50% 7.50%
Preferred Stock, liquidation preference per share (in dollars per share) $ 25.00 $ 25.00
Common Stock    
Adjustments related to tax withholding for share-based compensation | $ $ 799 $ 2,700
Shares paid for tax withholding for share based compensation (in shares) | shares 213,123 337,026