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Stockholders' Equity - Narrative (Details)
$ / shares in Units, $ in Thousands
 1 Months Ended 3 Months Ended 9 Months Ended 12 Months Ended
Jul. 30, 2021
USD ($)
$ / shares
shares
Sep. 30, 2021
USD ($)
director
quarter
seriesOfPreferredStock
$ / shares
shares
Jun. 30, 2021
$ / shares
Mar. 31, 2021
$ / shares
Dec. 31, 2020
$ / shares
shares
Sep. 30, 2020
USD ($)
$ / shares
shares
Jun. 30, 2020
$ / shares
Mar. 31, 2020
$ / shares
Sep. 30, 2021
USD ($)
director
quarter
seriesOfPreferredStock
$ / shares
shares
Sep. 30, 2020
USD ($)
shares
Dec. 31, 2020
$ / shares
shares
Aug. 10, 2021
USD ($)
$ / shares
Nov. 27, 2019
USD ($)
Mar. 29, 2019
USD ($)
Aug. 10, 2017
USD ($)
Class of Stock [Line Items]                              
Preferred stock, shares authorized (in shares)         30,900,000           30,900,000        
Number of series of cumulative redeemable preferred stock outstanding | seriesOfPreferredStock   4             4            
Redemption price (in dollars per share) | $ / shares   $ 25.00             $ 25.00            
Common stock issuance, net | $                   $ 511,906          
Net income attributable to company's common stockholders | $   $ (394)       $ 1,764     $ (3,428) $ 704          
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 $ 0.100 $ 0.075 $ 0.050 $ 0              
Common stock, par value (in usd per share) | $ / shares   $ 0.01     $ 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) | $                       $ 100,000      
Common stock reserved for issuance | $   $ 100,000             $ 100,000           $ 72,500
Shares issued (in shares)   0       0     0 0          
Equity agreement for preferred stock maximum aggregate sales price (up to) | $                       $ 149,100 $ 131,500    
Preferred Equity Distribution Agreement                              
Class of Stock [Line Items]                              
Shares issued (in shares)   0       0     0 0          
Equity agreement for preferred stock maximum aggregate sales price (up to) | $                           $ 50,000  
Preferred stock available for future issuance, value | $   $ 100,000             $ 100,000            
Series B Preferred Stock                              
Class of Stock [Line Items]                              
Preferred stock, shares authorized (in shares)   6,000,000     6,000,000       6,000,000   6,000,000        
Preferred stock, shares issued (in shares)   3,156,087     3,156,087       3,156,087   3,156,087        
Preferred stock, cumulative redeemable dividend rate                 7.75%   7.75%        
Series D Preferred Stock                              
Class of Stock [Line Items]                              
Preferred stock, shares authorized (in shares)   8,400,000     8,400,000       8,400,000   8,400,000        
Preferred stock, shares issued (in shares)   6,123,495     6,123,495       6,123,495   6,123,495        
Preferred stock, cumulative redeemable dividend rate                 8.00%   8.00%        
Series E Preferred Stock                              
Class of Stock [Line Items]                              
Preferred stock, shares authorized (in shares) 2,000,000 9,900,000     9,900,000       9,900,000   9,900,000        
Preferred stock, shares issued (in shares)   7,411,499     7,411,499       7,411,499   7,411,499        
Preferred stock, cumulative redeemable dividend rate                 7.875%   7.875%        
Series F Preferred Stock                              
Class of Stock [Line Items]                              
Preferred stock, shares authorized (in shares) 5,750,000 7,750,000             7,750,000            
Preferred stock, shares issued (in shares)   5,750,000             5,750,000            
Preferred stock, cumulative redeemable dividend rate 6.875%               6.875%            
Redemption price (in dollars per share) | $ / shares $ 25.00                            
Series F Preferred Stock | Underwritten Public Offering                              
Class of Stock [Line Items]                              
Common stock issuance, net | $ $ 138,600                            
Preferred stock, liquidation preference per share (in dollars per share) | $ / shares   $ 25             $ 25            
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%   7.875%        
Redemption price (in dollars per share) | $ / shares $ 25.08                            
Preferred stock, liquidation preference per share (in dollars per share) | $ / shares   $ 25.00             $ 25.00            
Net income attributable to company's common stockholders | $   $ (3,400)             $ (3,400)            
Preferred Stock                              
Class of Stock [Line Items]                              
Preferred stock, shares authorized (in shares)   200,000,000     200,000,000       200,000,000   200,000,000        
Preferred stock, par value (in usd per share) | $ / shares   $ 0.01     $ 0.01       $ 0.01   $ 0.01        
Preferred stock, shares outstanding (in shares)   22,441,081     20,872,888       22,441,081   20,872,888        
Preferred stock, shares issued (in shares)   22,441,081     20,872,888       22,441,081   20,872,888        
Number of quarters with no dividends that results in voting rights | quarter   6             6