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Redeemable Preferred Stock - Series M Preferred Stock Activity (Details) - Series M Preferred Stock - USD ($)
shares in Thousands, $ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Class of Stock [Line Items]        
Preferred Stock shares redeemed (in shares) 4 0 5 0
Redemption amount, net of redemption fees $ 90 $ 0 $ 115 $ 0