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CONDENSED CONSOLIDATED STATEMENTS OF EQUITY (Parenthetical) - $ / shares
 3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Series D Preferred Stock        
Dividends declared per preferred share (in dollars per share) $ 0.52 $ 0.52 $ 1.55 $ 1.55
Preferred stock dividend rate 8.25% 8.25% 8.25% 8.25%
Series B Preferred Stock        
Dividends declared per preferred share (in dollars per share) $ 0.34 $ 0.34 $ 1.03 $ 1.03
Preferred stock dividend rate 5.50% 5.50% 5.50% 5.50%
Series E Preferred Stock        
Dividends declared per preferred share (in dollars per share) $ 0.50   $ 0.50  
Series M Preferred Stock        
Dividends declared per preferred share (in dollars per share) $ 0.51   $ 0.51  
Preferred stock dividend rate     0.00082%