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Stockholders' Equity - Series C (Details)
$ / shares in Units, $ in Millions
 3 Months Ended 12 Months Ended
Mar. 02, 2020
USD ($)
Feb. 28, 2020
quarter
director
$ / shares
shares
Apr. 15, 2013
$ / shares
shares
Mar. 31, 2023
quarter
director
$ / shares
shares
Mar. 31, 2022
$ / shares
Dec. 31, 2022
$ / shares
shares
Series C Preferred Stock            
Class of Stock [Line Items]            
Preferred Stock, dividend rate       6.50%   6.50%
Preferred stock, shares issued (in shares) | shares       11,000,000   11,000,000
Preferred stock par value (in dollars per share)       $ 0.01   $ 0.01
Percentage required for making material changes       66.67%    
Series C Preferred Stock | Preferred Stock            
Class of Stock [Line Items]            
Preferred Stock, dividend rate   6.50%   6.50% 6.50%  
Shares reclassified to redeemable capital stock (in shares) | shares   12,650,000        
Preferred stock, shares issued (in shares) | shares   11,000,000        
Preferred stock par value (in dollars per share)   $ 0.01        
Preferred stock, liquidation preference (in dollars per share)   25.00   $ 25.00 $ 25.00  
Proceeds from issuance of redeemable preferred stock | $ $ 266.0          
Preferred stock, redemption price (in dollars per share)   $ 25.00        
Maximum quarters without dividends to get voting rights, in quarters | quarter   6        
Number of additional directors that can be elected by preferred stock holders | director   2        
Series C Preferred Stock | Preferred Stock | LIBOR            
Class of Stock [Line Items]            
Debt instrument, basis spread on variable rate   5.345%        
Series B Preferred Stock            
Class of Stock [Line Items]            
Preferred Stock, dividend rate       7.50%   7.50%
Preferred stock, shares issued (in shares) | shares       8,000,000   8,000,000
Preferred stock par value (in dollars per share)       $ 0.01   $ 0.01
Percentage required for making material changes       66.67%    
Series B Preferred Stock | Preferred Stock            
Class of Stock [Line Items]            
Preferred Stock, dividend rate     7.50% 7.50% 7.50%  
Preferred stock, shares issued (in shares) | shares     8,000,000      
Preferred stock par value (in dollars per share)     $ 0.01      
Preferred stock, liquidation preference (in dollars per share)     25.00 $ 25.00 $ 25.00  
Preferred stock, redemption price (in dollars per share)     $ 25.00      
Maximum quarters without dividends to get voting rights, in quarters | quarter       6    
Number of additional directors that can be elected by preferred stock holders | director       2