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Stockholders’ Equity - Series B (Details)
shares in Thousands
 12 Months Ended
Apr. 15, 2013
quarter
director
$ / shares
shares
Dec. 31, 2023
$ / shares
shares
Dec. 31, 2022
$ / shares
shares
Dec. 31, 2021
$ / shares
Dec. 31, 2020
$ / shares
Class of Stock [Line Items]          
Maximum quarters without dividends to get voting rights, in quarters | quarter 6        
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    
Minimum percentage of preferred shareholders required for approval 66.67%        
Series B Preferred Stock | Preferred Stock          
Class of Stock [Line Items]          
Preferred stock, dividend rate (as a percent) 7.50% 7.50% 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 $ 25.00 $ 25.00
Preferred stock, redemption price (in dollars per share) $ 25.00        
Number of additional directors that can be elected by preferred stock holders | director 2