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Basis of Presentation and Summary of Significant Accounting Policies - Summary of Assets and Liabilities of Trusts (Details) - USD ($)
$ in Thousands
Sep. 30, 2021
Dec. 31, 2020
Variable Interest Entity [Line Items]    
Loans held for investment, net $ 2,295,697 $ 1,948,089
Accrued interest and other receivables 11,974 11,373
Real estate owned, net 17,905 15,767
Other assets 6,843 6,779
Total assets 2,457,164 2,102,874
Accounts payable and accrued expenses 79,360 63,361
Total liabilities 2,124,974 1,793,285
Variable Interest Entity Primary Beneficiary    
Variable Interest Entity [Line Items]    
Restricted cash 5,475 6,743
Loans held for investment, net 1,933,800 1,874,991
Accrued interest and other receivables 67,664 82,342
Real estate owned, net 12,257 9,698
Other assets 5 12
Total assets 2,019,201 1,973,786
Accounts payable and accrued expenses 43,157 43,795
Securities issued 1,623,674 1,579,019
Total liabilities $ 1,666,831 $ 1,622,814