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Summary of Significant Accounting Policies - Earnings Per Share (Details) - USD ($)
shares in Thousands, $ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Numerator (for basic and diluted earnings per share)        
Income from continuing operations, net of tax $ 46,248 $ 58,366 $ 110,353 $ 63,082
Less income allocated to RSUs (basic) (885) (1,337) (1,831) (738)
Less income allocated to RSUs (diluted) (885) (1,337) (1,831) (738)
Less preferred stock dividends (12,576) (12,577) (37,729) (36,796)
Numerator for basic earnings per share 32,787 44,452 70,793 25,548
Numerator for diluted earnings per share $ 32,787 $ 44,452 $ 70,793 $ 25,548
Denominator        
Basic weighted-average shares outstanding (in shares) 83,360 82,482 83,141 82,258
Effect of dilutive securities (in shares) 1,964 7,649 5,056 4,644
Diluted weighted-average shares outstanding (in shares) 85,324 90,131 88,197 86,902