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CONSOLIDATED STATEMENTS OF CHANGES IN STOCKHOLDERS' EQUITY (Parenthetical) - USD ($)
$ in Millions
 3 Months Ended 6 Months Ended 9 Months Ended 12 Months Ended
Feb. 28, 2020
Apr. 15, 2013
Sep. 30, 2024
Jun. 30, 2024
Mar. 31, 2024
Dec. 31, 2023
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Jun. 30, 2024
Sep. 30, 2024
Sep. 30, 2023
Dec. 31, 2023
Dec. 31, 2022
Mar. 02, 2020
Dividend declared per share, common stock (in dollars per share)     $ 0.35 $ 0.35 $ 0.35 $ 0.35 $ 0.35 $ 0.35 $ 0.35            
Adjustments related to tax withholding for share-based compensation                     $ 1.5 [1] $ 0.6      
Shares paid for tax withholding for share based compensation (in shares)                     129,949 [1] 58,505      
Series B Preferred Stock                              
Preferred stock, dividend rate (as a percent)                     7.50%   7.50%    
Preferred stock, cash dividends declared (in dollars per share)     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%    
Preferred stock, cash dividends declared (in dollars per share)     $ 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% 7.50%   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 $ 25.00   $ 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%   6.50% 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   $ 25.00 $ 25.00 $ 25.00 $ 25.00 $ 25.00 $ 25.00
[1] For the nine months ended September 30, 2024 includes approximately $1.5 million (129,949 shares) surrendered for tax purposes related to equity-based compensation awards.