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Stockholders' Equity - Series B (Details)
shares in Thousands
 3 Months Ended 6 Months Ended 12 Months Ended
Feb. 28, 2020
quarter
director
$ / shares
Apr. 15, 2013
$ / shares
shares
Jun. 30, 2024
$ / shares
shares
Mar. 31, 2024
$ / shares
Jun. 30, 2023
$ / shares
Mar. 31, 2023
$ / shares
Jun. 30, 2024
quarter
director
$ / shares
shares
Dec. 31, 2023
$ / shares
shares
Dec. 31, 2022
$ / 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 8,000    
Preferred stock, par value (in dollars per share)     $ 0.01       $ 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%   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 $ 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      
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 11,000    
Preferred stock, par value (in dollars per share)     $ 0.01       $ 0.01 $ 0.01    
Minimum percentage of preferred shareholders required for approval 66.67%                  
Series C Preferred Stock | Preferred Stock                    
Class of Stock [Line Items]                    
Preferred stock, dividend rate (as a percent) 6.50%   6.50% 6.50% 6.50% 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 $ 25.00 $ 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