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Stockholders' Equity - Schedule of Preferred Stock Issued and Outstanding (Details) - USD ($) | 6 Months Ended | 12 Months Ended
--- | --- | ---
Jun. 30, 2023 | Dec. 31, 2022
Class of Stock [Line Items] |  |
Carrying Value | $ 536,983,000 | $ 538,351,000
Series D |  |
Class of Stock [Line Items] |  |
Preferred stock, shares authorized (in shares) | 8,400,000 | 8,400,000
Preferred stock, shares issued (in shares) | 6,107,318 | 6,123,495
Preferred stock, shares outstanding (in shares) | 6,107,318 | 6,123,495
Carrying Value | $ 147,745,000 | $ 148,134,000
Liquidation Preference | $ 152,683,000 | $ 153,087,000
Preferred stock, contractual rate, percentage | 8.00% | 8.00%
Series D | LIBOR |  |
Class of Stock [Line Items] |  |
Preferred stock, floating annual rate, percentage | 5.695% | 5.695%
Series E |  |
Class of Stock [Line Items] |  |
Preferred stock, shares authorized (in shares) | 9,900,000 | 9,900,000
Preferred stock, shares issued (in shares) | 7,403,209 | 7,411,499
Preferred stock, shares outstanding (in shares) | 7,403,209 | 7,411,499
Carrying Value | $ 179,151,000 | $ 179,349,000
Liquidation Preference | $ 185,080,000 | $ 185,288,000
Preferred stock, contractual rate, percentage | 7.875% | 7.875%
Series E | LIBOR |  |
Class of Stock [Line Items] |  |
Preferred stock, floating annual rate, percentage | 6.429% | 6.429%
Series F |  |
Class of Stock [Line Items] |  |
Preferred stock, shares authorized (in shares) | 7,750,000 | 7,750,000
Preferred stock, shares issued (in shares) | 5,743,209 | 5,750,000
Preferred stock, shares outstanding (in shares) | 5,743,209 | 5,750,000
Carrying Value | $ 138,490,000 | $ 138,650,000
Liquidation Preference | $ 143,580,000 | $ 143,750,000
Preferred stock, contractual rate, percentage | 6.875% | 6.875%
Series F | Underwritten Public Offering |  |
Class of Stock [Line Items] |  |
Preferred stock, liquidation preference per share (in dollars per share) | $ 25 |
Series F | SOFR |  |
Class of Stock [Line Items] |  |
Preferred stock, floating annual rate, percentage | 6.13% | 6.13%
Series G |  |
Class of Stock [Line Items] |  |
Preferred stock, shares authorized (in shares) | 5,450,000 | 5,450,000
Preferred stock, shares issued (in shares) | 2,974,218 | 3,000,000
Preferred stock, shares outstanding (in shares) | 2,974,218 | 3,000,000
Carrying Value | $ 71,597,000 | $ 72,218,000
Liquidation Preference | $ 74,356,000 | $ 75,000,000
Preferred stock, contractual rate, percentage | 7.00% | 7.00%
Preferred Stock, Series Shares |  |
Class of Stock [Line Items] |  |
Preferred stock, shares authorized (in shares) | 31,500,000 | 31,500,000
Preferred stock, shares issued (in shares) | 22,227,954 | 22,284,994
Preferred stock, shares outstanding (in shares) | 22,227,954 | 22,284,994
Carrying Value | $ 536,983,000 | $ 538,351,000
Liquidation Preference | $ 555,699,000 | $ 557,125,000

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