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Redeemable Preferred Stock - Issuance Activity (Details)
 12 Months Ended
Apr. 02, 2021
$ / shares
shares
Dec. 04, 2019
USD ($)
Dec. 31, 2022
USD ($)
day
$ / shares
shares
Dec. 31, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
USD ($)
shares
Equity Distribution Agreements          
Class of Stock [Line Items]          
Maximum offering price | $   $ 40,000,000      
Percentage of the gross sales price   2.00%      
Series B Preferred Stock          
Class of Stock [Line Items]          
Temporary equity, dividend rate (as a percent)     5.50% 5.50%  
Initial conversion/redemption price (in dollars per share)     $ 18.70    
Temporary equity conversion rate     1.3372    
Annual preferred stock dividend (in dollars per share)     $ 1.375    
Consecutive trading days | day     45    
Days ending prior to notice of conversion     3 days    
Redemption price (in dollars per share)     $ 25.00    
Redemption percent of liquidation preference     103.00%    
Liquidation preference per share (in dollars per share)     $ 25.00    
Temporary equity, par value (in dollars per share)     $ 0.01 $ 0.01  
Preferred Shares Tendered (in shares) | shares     0 1,953,000  
Series B Preferred Stock | Equity Distribution Agreements          
Class of Stock [Line Items]          
Shares sold (in shares) | shares     65,000    
Proceeds received | $     $ 1,200,000    
Series B Preferred Stock | Minimum          
Class of Stock [Line Items]          
Percent of conversion price     110.00%    
Series B Preferred Stock | Preferred Stock          
Class of Stock [Line Items]          
Series Preferred Stock shares issued (in shares) | shares     0 0 23,000
Gross proceeds received | $     $ 0 $ 0 $ 439,000
Commissions | $     0 0 7,000
Proceeds received | $     $ 0 $ 0 $ 432,000
Series E Preferred Stock          
Class of Stock [Line Items]          
Initial conversion/redemption price (in dollars per share)     $ 25.00    
Temporary equity conversion rate     5.69476    
Sale of temporary equity, offering price (in dollars per share)     $ 25.00    
Period of preferred dividends in arrears (in months)     18 months    
Redemption fee, percent of stated value on the original issue date     8.00%    
Redemption fee, percent of stated value beginning on the first anniversary     5.00%    
Redemption fee, percent of stated value beginning on the third anniversary     0.00%    
Temporary equity, par value (in dollars per share)     $ 0.01 $ 0.01  
Preferred Shares Tendered (in shares) | shares     0    
Series E Preferred Stock | Initial Closing Date          
Class of Stock [Line Items]          
Temporary equity, dividend rate (as a percent)     0.0008%    
Series E Preferred Stock | First Anniversary From Initial Closing Date          
Class of Stock [Line Items]          
Temporary equity, dividend rate (as a percent)     0.0775%    
Series E Preferred Stock | Second Anniversary From Initial Closing Date          
Class of Stock [Line Items]          
Temporary equity, dividend rate (as a percent)     0.00075%    
Series E Preferred Stock | Equity Distribution Agreements          
Class of Stock [Line Items]          
Sale of temporary equity, number of shares authorized in transaction (in shares) | shares 20,000,000        
Sale of temporary equity, offering price (in dollars per share) $ 25.00        
Series E Preferred Stock | Dividend Reinvestment Plan          
Class of Stock [Line Items]          
Sale of temporary equity, number of shares authorized in transaction (in shares) | shares 8,000,000        
Sale of temporary equity, offering price (in dollars per share) $ 25.00        
Series M Preferred Stock          
Class of Stock [Line Items]          
Temporary equity, dividend rate (as a percent)     0.00082%    
Initial conversion/redemption price (in dollars per share)     $ 25.00    
Temporary equity conversion rate     5.69476    
Sale of temporary equity, offering price (in dollars per share) 25.00   $ 25.00    
Period of preferred dividends in arrears (in months)     18 months    
Redemption fee, percent of stated value on the original issue date     1.50%    
Redemption fee, percent of stated value beginning on the first anniversary     0.00%    
Temporary equity, par value (in dollars per share) $ 0.01   $ 0.01 $ 0.01  
Dividend rate (in dollars per share)     $ 2.05    
Dividend rate increase each year from original issuance (as a percent)     0.10%    
Dividend rate, maximum percentage of stated value     8.70%    
Series M Preferred Stock | Equity Distribution Agreements          
Class of Stock [Line Items]          
Sale of temporary equity, number of shares authorized in transaction (in shares) | shares 20,000,000        
Sale of temporary equity, offering price (in dollars per share) $ 25.00        
Series M Preferred Stock | Dividend Reinvestment Plan          
Class of Stock [Line Items]          
Sale of temporary equity, number of shares authorized in transaction (in shares) | shares 8,000,000        
Sale of temporary equity, offering price (in dollars per share) $ 25.00