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Redeemable Preferred Stock - Summary of the Activity of Temporary Equity (Details) - USD ($)
shares in Thousands, $ in Thousands
 3 Months Ended 6 Months Ended 12 Months Ended
Jun. 30, 2023
Jun. 30, 2023
Dec. 31, 2022
Preferred Stock, Series J      
Class of Stock [Line Items]      
Issuance of preferred stock (in shares) 1,073 1,487  
Net proceeds $ 24,132 $ 33,458  
Redeemable preferred stock 36,224 36,224 $ 2,004
Temporary equity, accretion to redemption value, adjustment   2,108 926
Temporary equity, dividends, adjustment $ 618 $ 751  
Redemption of preferred shares (in shares) 2 2  
Redemption amount, net of redemption fees $ 53 $ 53  
Series K Preferred Stock      
Class of Stock [Line Items]      
Issuance of preferred stock (in shares) 38 70  
Net proceeds $ 909 $ 1,696  
Redeemable preferred stock 1,766 1,766 44
Temporary equity, accretion to redemption value, adjustment   71 $ 20
Temporary equity, dividends, adjustment $ 30 $ 37