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Stockholders' Equity - Series C (Details) - Series C Preferred Stock
$ / shares in Units, $ in Millions
 3 Months Ended 6 Months Ended 12 Months Ended
Mar. 02, 2020
USD ($)
$ / shares
shares
Feb. 28, 2020
quarter
director
$ / shares
shares
Jun. 30, 2024
$ / shares
shares
Mar. 31, 2024
$ / shares
Jun. 30, 2023
$ / shares
Mar. 31, 2023
$ / shares
Jun. 30, 2024
$ / shares
shares
Dec. 31, 2023
$ / shares
shares
Dec. 31, 2022
$ / shares
Class of Stock [Line Items]                  
Preferred stock, dividend rate (as a percent)             6.50% 6.50%  
Preferred stock, shares issued (in shares) | shares     11,000,000       11,000,000 11,000,000  
Preferred stock, par value (in dollars per share)     $ 0.01       $ 0.01 $ 0.01  
Minimum percentage of preferred shareholders required for approval   66.67%              
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%
Shares reclassified to redeemable capital stock (in shares) | shares   12,650,000              
Preferred stock, shares issued (in shares) | shares 11,000,000.0                
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
Proceeds from issuance of redeemable preferred stock | $ $ 266.0                
Debt instrument, basis spread on variable rate (in percent)   5.345%              
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