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Stockholders' Equity - Series B (Details)
shares in Thousands
 9 Months Ended 12 Months Ended
Feb. 28, 2020
director
quarter
$ / shares
Apr. 15, 2013
$ / shares
shares
Sep. 30, 2023
quarter
director
$ / shares
shares
Sep. 30, 2022
$ / shares
Dec. 31, 2022
$ / shares
shares
Mar. 02, 2020
$ / shares
shares
Series B Preferred Stock            
Class of Stock [Line Items]            
Preferred stock, dividend rate (as a percent)     7.50%   7.50%  
Preferred stock, shares issued (in shares) | shares     8,000   8,000  
Preferred stock, par value (in dollars per share)     $ 0.01   $ 0.01  
Series B Preferred Stock | Preferred Stock            
Class of Stock [Line Items]            
Preferred stock, dividend rate (as a percent)   7.50% 7.50% 7.50%    
Preferred stock, shares issued (in shares) | shares   8,000        
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      
Affirmative vote of shareholders as a percentage of outstanding shares 66.67%          
Series C Preferred Stock            
Class of Stock [Line Items]            
Preferred stock, dividend rate (as a percent)     6.50%   6.50%  
Preferred stock, shares issued (in shares) | shares     11,000   11,000  
Preferred stock, par value (in dollars per share)     $ 0.01   $ 0.01  
Series C Preferred Stock | Preferred Stock            
Class of Stock [Line Items]            
Preferred stock, dividend rate (as a percent) 6.50%   6.50% 6.50%    
Preferred stock, shares issued (in shares) | shares           11,000
Preferred stock, par value (in dollars per share)           $ 0.01
Preferred stock, liquidation preference (in dollars per share) $ 25.00   $ 25.00 $ 25.00   $ 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          
Affirmative vote of shareholders as a percentage of outstanding shares 66.67%