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Equity - Additional Information (Details) - USD ($)
 1 Months Ended 12 Months Ended
Jan. 31, 2023
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
May 31, 2023
Jul. 31, 2022
Stockholders Equity Note [Line Items]            
Net proceeds from issuance of common stock   $ 124,474,000 $ 68,035,000 $ 21,944,000    
Preferred stock, issued (in shares)   2,800,000 0      
Net proceeds from issuance of preferred stock   $ 66,948,000 $ 0 $ 0    
Preferred stock dividends declared (in dollars per share)   $ 2.47917        
Dividends Payable   $ 1,000,000        
Amount of shares repurchased during period     56,496,000      
Convertible And Exchangeable Debt            
Stockholders Equity Note [Line Items]            
Repurchased debt instrument, face amount   $ 81,000,000        
Share Repurchase Program 2022            
Stockholders Equity Note [Line Items]            
Stock repurchase program, authorized amount         $ 70,000,000 $ 125,000,000
Prior Share Repurchase Program | Convertible notes            
Stockholders Equity Note [Line Items]            
Repurchased debt instrument, face amount     $ 32,000,000      
Convertible debt securities            
Stockholders Equity Note [Line Items]            
Securities excluded in the calculation of diluted earnings per share   42,229,598 40,081,997      
Equity awards            
Stockholders Equity Note [Line Items]            
Securities excluded in the calculation of diluted earnings per share   105,592 226,975 18,736    
Common Stock            
Stockholders Equity Note [Line Items]            
Issuance of common stock (in shares)   16,845,939 5,232,869 2,503,662    
Direct stock purchase and dividend reinvestment plan (in shares)   0 0      
Shares repurchased during period (in shares)     7,128,891      
Amount of shares repurchased during period     $ 71,000      
Common Stock | Prior Share Repurchase Program            
Stockholders Equity Note [Line Items]            
Shares repurchased during period (in shares)   0 7,100,000      
Amount of shares repurchased during period     $ 56,000,000      
Common Stock | Share Repurchase Plan, February 2018            
Stockholders Equity Note [Line Items]            
Stock repurchase program, remaining authorized repurchase amount   $ 101,000,000        
Series A Preferred Stock            
Stockholders Equity Note [Line Items]            
Preferred stock, issued (in shares) 2,800,000          
Sale of stock, percentage of ownership before transaction (in percent) 10.00%          
Net proceeds from issuance of preferred stock $ 70,000,000          
Net proceeds from issuance of common stock $ 67,000,000          
Preferred stock, dividend rate (as a percent) 10.00%          
Preferred stock, redemption price per share (in dollars per share) $ 25.00          
Spread on Treasury rate (as a percent) 6.278%          
Series A Preferred Stock | Prior Share Repurchase Program            
Stockholders Equity Note [Line Items]            
Shares repurchased during period (in shares)   0        
Series A Preferred Stock | Share Repurchase Plan, February 2018            
Stockholders Equity Note [Line Items]            
Stock repurchase program, remaining authorized repurchase amount   $ 70,000,000        
ATM Offerings | Common Stock            
Stockholders Equity Note [Line Items]            
Issuance of common stock (in shares)   16,800,000 5,200,000 1,600,000    
Net proceeds from issuance of common stock   $ 124,000,000 $ 67,000,000 $ 20,000,000    
Authorized issuance amount   $ 50,000,000 $ 175,000,000      
Direct Stock Purchases and Dividend Reinvestment Plan | Common Stock            
Stockholders Equity Note [Line Items]            
Remaining shares outstanding for future offerings (in shares)   6,000,000