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Equity - Dividends (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Class of Stock [Line Items]        
Common stock $ 0 $ 0 $ 0  
Total dividends declared 12,263 12,414 21,725  
Dividends expense     252  
Preferred stock, amount of preferred dividends in arrears       $ 21,500
Preferred Stock, Series D        
Class of Stock [Line Items]        
Total dividends declared 2,472 2,481 4,342  
Preferred Stock, Series F        
Class of Stock [Line Items]        
Total dividends declared 2,272 2,307 4,036  
Preferred Stock, Series G        
Class of Stock [Line Items]        
Total dividends declared 2,824 2,824 4,943  
Preferred Stock, Series H        
Class of Stock [Line Items]        
Total dividends declared 2,389 2,453 4,293  
Preferred Stock, Series I        
Class of Stock [Line Items]        
Total dividends declared $ 2,306 $ 2,349 $ 4,111