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CONSOLIDATED STATEMENTS OF EQUITY (DEFICIT) (Parenthetical) - $ / shares
 3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Preferred Stock, Series D    
Dividends declared - preferred stock (in dollars per share) $ 0.5281 $ 0.5281
Preferred Stock, Series F    
Dividends declared - preferred stock (in dollars per share) 0.4609 0.4609
Preferred Stock, Series G    
Dividends declared - preferred stock (in dollars per share) 0.4609 0.4609
Preferred Stock, Series H    
Dividends declared - preferred stock (in dollars per share) 0.4688 0.4688
Preferred Stock, Series I    
Dividends declared - preferred stock (in dollars per share) 0.4688 0.4688
Preferred Stock | Preferred Stock, Series D    
Dividends declared - preferred stock (in dollars per share) 0.53 0.53
Preferred Stock | Preferred Stock, Series F    
Dividends declared - preferred stock (in dollars per share) 0.46 0.46
Preferred Stock | Preferred Stock, Series G    
Dividends declared - preferred stock (in dollars per share) 0.46 0.46
Preferred Stock | Preferred Stock, Series H    
Dividends declared - preferred stock (in dollars per share) 0.47 0.47
Preferred Stock | Preferred Stock, Series I    
Dividends declared - preferred stock (in dollars per share) 0.47 0.47
Preferred Stock | Preferred Stock, Series J    
Dividends declared - preferred stock (in dollars per share) 0.50 0.50
Preferred Stock | Preferred Stock, Series K    
Dividends declared - preferred stock (in dollars per share) $ 0.51 $ 0.51