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CONSOLIDATED STATEMENTS OF CHANGES IN STOCKHOLDERS' EQUITY (Parenthetical) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Common Stock, Dividends, Per Share, Declared $ 0.385 $ 0.125 $ 0.80
Common stock, cash dividends declared (in dollars per share) $ 0.385 $ 0.125 $ 0.80
Common Stock      
Adjustments related to tax withholding for share-based compensation $ 799 $ 2,700 $ 4,100
Shares paid for tax withholding for share based compensation (in shares) 213,123 360,534 562,815
Series B Preferred Stock      
Preferred stock, cash dividends declared (in dollars per share) $ 1.875 $ 1.875 $ 1.875
Preferred stock, dividend rate 7.50% 7.50%  
Series B Preferred Stock | Preferred Stock      
Preferred stock, dividend rate 7.50% 7.50% 7.50%
Preferred stock, liquidation preference (in dollars per share) $ 25.00 $ 25.00 $ 25.00
Series C Preferred Stock      
Preferred stock, cash dividends declared (in dollars per share) $ 1.625 $ 1.345  
Preferred stock, dividend rate 6.50% 6.50%  
Series C Preferred Stock | Preferred Stock      
Preferred stock, dividend rate 6.50% 6.50% 6.50%
Preferred stock, liquidation preference (in dollars per share) $ 25.00 $ 25.00 $ 25.00