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Basis of Presentation and Summary of Significant Accounting Policies - Summary of Assets and Liabilities of Trusts (Details) - USD ($)
$ in Thousands
Jun. 30, 2021
Dec. 31, 2020
Variable Interest Entity [Line Items]    
Loans held for investment, net $ 2,083,753 $ 1,948,089
Accrued interest and other receivables 11,094 11,373
Real estate owned, net 20,046 15,767
Other assets 7,257 6,779
Total assets 2,267,605 2,102,874
Accounts payable and accrued expenses 70,049 63,361
Total liabilities 1,944,137 1,793,285
Variable Interest Entity Primary Beneficiary [Member]    
Variable Interest Entity [Line Items]    
Restricted cash 6,143 6,743
Loans held for investment, net 1,858,737 1,874,991
Accrued interest and other receivables 82,829 82,342
Real estate owned, net 14,395 9,698
Other assets 9 12
Total assets 1,962,113 1,973,786
Accounts payable and accrued expenses 43,844 43,795
Securities issued 1,558,163 1,579,019
Total liabilities $ 1,602,007 $ 1,622,814