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Stockholders' Equity - Cash Dividends Declared - Preferred Stock (Details) - $ / shares | Jul. 15, 2023 | Apr. 15, 2023 | Jan. 15, 2023 | Oct. 15, 2022 | Jul. 15, 2022 | Apr. 15, 2022
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Series D |  |  |  |  |  |
Dividends Payable [Line Items] |  |  |  |  |  |
Cash dividend per share (in dollars per share) |  | $ 0.50 | $ 0.50 | $ 0.50 | $ 0.50 | $ 0.50
Series D | Subsequent Event |  |  |  |  |  |
Dividends Payable [Line Items] |  |  |  |  |  |
Cash dividend per share (in dollars per share) | $ 0.50 |  |  |  |  |
Series E |  |  |  |  |  |
Dividends Payable [Line Items] |  |  |  |  |  |
Cash dividend per share (in dollars per share) |  | 0.4921875 | 0.4921875 | 0.4921875 | 0.4921875 | 0.4921875
Series E | Subsequent Event |  |  |  |  |  |
Dividends Payable [Line Items] |  |  |  |  |  |
Cash dividend per share (in dollars per share) | 0.4921875 |  |  |  |  |
Series F |  |  |  |  |  |
Dividends Payable [Line Items] |  |  |  |  |  |
Cash dividend per share (in dollars per share) |  | 0.4296875 | 0.4296875 | 0.4296875 | 0.4296875 | 0.4296875
Series F | Subsequent Event |  |  |  |  |  |
Dividends Payable [Line Items] |  |  |  |  |  |
Cash dividend per share (in dollars per share) | 0.4296875 |  |  |  |  |
Series G |  |  |  |  |  |
Dividends Payable [Line Items] |  |  |  |  |  |
Cash dividend per share (in dollars per share) |  | $ 0.43750 | $ 0.43750 | $ 0.43750 | $ 0.43750 | $ 0.43750
Series G | Subsequent Event |  |  |  |  |  |
Dividends Payable [Line Items] |  |  |  |  |  |
Cash dividend per share (in dollars per share) | $ 0.43750 |  |  |  |  |

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