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CONSOLIDATED STATEMENTS OF CHANGES IN STOCKHOLDERS' EQUITY (UNAUDITED) (Parenthetical) - USD ($) $ in Thousands									3 Months Ended						9 Months Ended		12 Months Ended
	Sep. 20, 2023	Aug. 17, 2023	Jun. 15, 2023	May 22, 2023	Mar. 10, 2023	Feb. 21, 2023	Feb. 28, 2020	Apr. 15, 2013	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022	Mar. 02, 2020
Dividend declared per share, common stock (in dollars per share)	$ 0.350		$ 0.350		$ 0.350				$ 0.35	$ 0.35	$ 0.35	$ 0.44	$ 0.44	$ 0.440
Series B Preferred Stock
Preferred stock, dividend rate (as a percent)															7.50%		7.50%
Dividend declared per share, preferred stock (in dollars per share)		$ 0.46875		$ 0.46875		$ 0.46875			0.46875	0.46875	0.46875	0.46875	0.46875	0.46875
Series C Preferred Stock
Preferred stock, dividend rate (as a percent)															6.50%		6.50%
Dividend declared per share, preferred stock (in dollars per share)		$ 0.40625		$ 0.40625		$ 0.40625			0.40625	$ 0.40625	$ 0.40625	0.40625	$ 0.40625	$ 0.40625
Preferred Stock | Series B Preferred Stock
Preferred stock, dividend rate (as a percent)								7.50%							7.50%	7.50%
Preferred stock, liquidation preference per share (in dollars per share)								$ 25.00	25.00			25.00			$ 25.00	$ 25.00
Preferred Stock | Series C Preferred Stock
Preferred stock, dividend rate (as a percent)							6.50%								6.50%	6.50%
Preferred stock, liquidation preference per share (in dollars per share)							$ 25.00		$ 25.00			$ 25.00			$ 25.00	$ 25.00		$ 25.00
Common Stock
Adjustments related to tax withholding for share-based compensation															$ 600	$ 1,000
Shares paid for tax withholding for share based compensation (in shares)															58,505	56,690

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