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Consolidated Statements of Changes in Shareholders' Equity (Unaudited) (Parenthetical) - $ / shares
 3 Months Ended 12 Months Ended
Sep. 30, 2020
Jun. 30, 2020
Mar. 31, 2020
Sep. 30, 2019
Jun. 30, 2019
Mar. 31, 2019
Dec. 31, 2019
Common stock dividends per share, declared $ 0.26 $ 0.26 $ 0.26 $ 0.25 $ 0.25 $ 0.25  
Series A 3% Preferred Stock [Member]              
Preferred stock, dividend percentage 3.00% 3.00% 3.00% 3.00% 3.00% 3.00% 3.00%
Preferred stock dividends per share, declared $ 0.75 $ 0.75 $ 0.75 $ 0.75 $ 0.75 $ 0.75  
Series B-1 8.48% Preferred Stock [Member]              
Preferred stock, dividend percentage 8.48% 8.48% 8.48% 8.48% 8.48% 8.48% 8.48%
Preferred stock dividends per share, declared $ 2.12 $ 2.12 $ 2.12 $ 2.12 $ 2.12 $ 2.12