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Equity - Preferred Shares Tendered and Common Shares Issued (Details) - shares shares in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2021
Preferred Shares Tendered | Privately Negotiated Exchange Agreements |  |
Class of Stock [Line Items] |  |
Shares tendered and issued (in shares) | 320 | 8,647
Common Shares Initially Issued | Privately Negotiated Exchange Agreements |  |
Class of Stock [Line Items] |  |
Shares tendered and issued (in shares) |  | 61,498
Common Shares Issued |  |
Class of Stock [Line Items] |  |
Shares tendered and issued (in shares) | 2,110 | 7,776
Common Shares Issued | Privately Negotiated Exchange Agreements |  |
Class of Stock [Line Items] |  |
Shares tendered and issued (in shares) | 2,110 | 7,776
Preferred Stock, Series D |  |
Class of Stock [Line Items] |  |
Preferred stock percentage | 8.45% |
Preferred Stock, Series D | Preferred Shares Tendered |  |
Class of Stock [Line Items] |  |
Shares tendered and issued (in shares) | 14 | 617
Preferred Stock, Series D | Preferred Shares Tendered | Privately Negotiated Exchange Agreements |  |
Class of Stock [Line Items] |  |
Shares tendered and issued (in shares) | 14 | 617
Preferred Stock, Series D | Common Shares Initially Issued | Privately Negotiated Exchange Agreements |  |
Class of Stock [Line Items] |  |
Shares tendered and issued (in shares) |  | 4,174
Preferred Stock, Series D | Common Shares Issued | Privately Negotiated Exchange Agreements |  |
Class of Stock [Line Items] |  |
Shares tendered and issued (in shares) | 89 | 653
Preferred Stock, Series F |  |
Class of Stock [Line Items] |  |
Preferred stock percentage | 7.375% |
Preferred Stock, Series F | Preferred Shares Tendered |  |
Class of Stock [Line Items] |  |
Shares tendered and issued (in shares) | 76 | 1,640
Preferred Stock, Series F | Preferred Shares Tendered | Privately Negotiated Exchange Agreements |  |
Class of Stock [Line Items] |  |
Shares tendered and issued (in shares) | 76 | 1,640
Preferred Stock, Series F | Common Shares Initially Issued | Privately Negotiated Exchange Agreements |  |
Class of Stock [Line Items] |  |
Shares tendered and issued (in shares) |  | 11,185
Preferred Stock, Series F | Common Shares Issued | Privately Negotiated Exchange Agreements |  |
Class of Stock [Line Items] |  |
Shares tendered and issued (in shares) | 527 | 1,482
Preferred Stock, Series G |  |
Class of Stock [Line Items] |  |
Preferred stock percentage | 7.375% |
Preferred Stock, Series G | Preferred Shares Tendered |  |
Class of Stock [Line Items] |  |
Shares tendered and issued (in shares) |  | 2,891
Preferred Stock, Series G | Preferred Shares Tendered | Privately Negotiated Exchange Agreements |  |
Class of Stock [Line Items] |  |
Shares tendered and issued (in shares) | 0 | 2,891
Preferred Stock, Series G | Common Shares Initially Issued | Privately Negotiated Exchange Agreements |  |
Class of Stock [Line Items] |  |
Shares tendered and issued (in shares) |  | 21,371
Preferred Stock, Series G | Common Shares Issued | Privately Negotiated Exchange Agreements |  |
Class of Stock [Line Items] |  |
Shares tendered and issued (in shares) | 0 | 2,764
Preferred Stock, Series H |  |
Class of Stock [Line Items] |  |
Preferred stock percentage | 7.50% |
Preferred Stock, Series H | Preferred Shares Tendered |  |
Class of Stock [Line Items] |  |
Shares tendered and issued (in shares) | 138 | 1,361
Preferred Stock, Series H | Preferred Shares Tendered | Privately Negotiated Exchange Agreements |  |
Class of Stock [Line Items] |  |
Shares tendered and issued (in shares) | 138 | 1,361
Preferred Stock, Series H | Common Shares Initially Issued | Privately Negotiated Exchange Agreements |  |
Class of Stock [Line Items] |  |
Shares tendered and issued (in shares) |  | 10,033
Preferred Stock, Series H | Common Shares Issued | Privately Negotiated Exchange Agreements |  |
Class of Stock [Line Items] |  |
Shares tendered and issued (in shares) | 882 | 1,217
Preferred Stock, Series I |  |
Class of Stock [Line Items] |  |
Preferred stock percentage | 7.50% |
Preferred Stock, Series I | Preferred Shares Tendered |  |
Class of Stock [Line Items] |  |
Shares tendered and issued (in shares) | 92 | 2,138
Preferred Stock, Series I | Preferred Shares Tendered | Privately Negotiated Exchange Agreements |  |
Class of Stock [Line Items] |  |
Shares tendered and issued (in shares) | 92 | 2,138
Preferred Stock, Series I | Common Shares Initially Issued | Privately Negotiated Exchange Agreements |  |
Class of Stock [Line Items] |  |
Shares tendered and issued (in shares) |  | 14,735
Preferred Stock, Series I | Common Shares Issued | Privately Negotiated Exchange Agreements |  |
Class of Stock [Line Items] |  |
Shares tendered and issued (in shares) | 612 | 1,660

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