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Stockholders' Equity - Narrative (Details)
$ / shares in Units, $ in Millions
 3 Months Ended 6 Months Ended
Jun. 30, 2021
USD ($)
quarter
director
seriesOfPreferredStock
$ / shares
shares
Mar. 31, 2021
$ / shares
Dec. 31, 2020
$ / shares
shares
Sep. 30, 2020
$ / shares
Jun. 30, 2020
$ / shares
Mar. 31, 2020
$ / shares
Jun. 30, 2021
USD ($)
quarter
director
seriesOfPreferredStock
$ / shares
shares
Jun. 30, 2020
shares
Nov. 27, 2019
USD ($)
Mar. 29, 2019
USD ($)
Sep. 10, 2018
USD ($)
Aug. 10, 2017
USD ($)
$ / shares
Class of Stock [Line Items]                        
Preferred stock, shares authorized (in shares) 200,000,000   200,000,000       200,000,000          
Preferred stock, par value (in usd per share) | $ / shares $ 0.01   $ 0.01       $ 0.01          
Preferred stock, shares issued (in shares) 20,872,888   20,872,888       20,872,888          
Number of series of cumulative redeemable preferred stock issued | seriesOfPreferredStock 4           4          
Preferred stock, shares outstanding (in shares) 20,872,888   20,872,888       20,872,888          
Redemption price (in dollars per share) | $ / shares $ 25.00           $ 25.00          
Preferred stock redemption period             120 days          
Number of elected directors pending preferred stock voting rights | director 2           2          
Percent of outstanding shares affirmative votes needed for material and adverse changes to preferred stock terms             66.67%          
Cash dividend per share (in dollars per share) | $ / shares $ 0.100 $ 0.100 $ 0.100 $ 0.075 $ 0.050 $ 0            
Common stock, par value (in usd per share) | $ / shares $ 0.01   $ 0.01       $ 0.01          
Equity Distribution Agreements                        
Class of Stock [Line Items]                        
Common stock, par value (in usd per share) | $ / shares                       $ 0.01
Common stock that may be sold (up to) | $                     $ 177.1 $ 100.0
Shares issued (in shares)             0 0        
Common stock reserved for issuance | $ $ 72.5           $ 72.5          
Equity agreement for preferred stock maximum aggregate sales price (up to) | $                 $ 131.5      
Preferred Equity Distribution Agreement                        
Class of Stock [Line Items]                        
Shares issued (in shares)             0 0        
Equity agreement for preferred stock maximum aggregate sales price (up to) | $                   $ 50.0    
Preferred stock available for future issuance, value | $ $ 82.4           $ 82.4          
Series B Preferred Stock                        
Class of Stock [Line Items]                        
Preferred stock, shares authorized (in shares) 6,000,000           6,000,000          
Preferred stock, shares issued (in shares) 3,156,087           3,156,087          
Preferred stock, cumulative redeemable dividend rate             7.75%          
Series C Preferred Stock                        
Class of Stock [Line Items]                        
Preferred stock, shares authorized (in shares) 6,600,000           6,600,000          
Preferred stock, shares issued (in shares) 4,181,807           4,181,807          
Preferred stock, cumulative redeemable dividend rate             7.875%          
Series D Preferred Stock                        
Class of Stock [Line Items]                        
Preferred stock, shares authorized (in shares) 8,400,000           8,400,000          
Preferred stock, shares issued (in shares) 6,123,495           6,123,495          
Preferred stock, cumulative redeemable dividend rate             8.00%          
Series E Preferred Stock                        
Class of Stock [Line Items]                        
Preferred stock, shares authorized (in shares) 9,900,000           9,900,000          
Preferred stock, shares issued (in shares) 7,411,499           7,411,499          
Preferred stock, cumulative redeemable dividend rate             7.875%          
Preferred Stock                        
Class of Stock [Line Items]                        
Number of quarters with no dividends that results in voting rights | quarter 6           6