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Consolidated Statements of Changes in Shareholders' Equity (Parenthetical) - $ / shares | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Common stock dividends per share, declared | $ 1.2 | $ 1.16 | $ 1.08
Series A 3% Preferred Stock [Member] |  |  |
Preferred stock, dividend percentage | 3.00% | 3.00% | 3.00%
Preferred stock dividends per share, declared | $ 3 | $ 3 | $ 3
Series B-1 8.48% Preferred Stock [Member] |  |  |
Preferred stock, dividend percentage | 8.48% | 8.48% | 8.48%
Preferred stock dividends per share, declared | $ 8.48 | $ 8.48 | $ 8.48

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