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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