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CONDENSED CONSOLIDATED BALANCE SHEETS (Parenthetical) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2023
Sep. 30, 2023
Dec. 31, 2022
ASSETS      
Allowance for doubtful notes receivable $ 233 $ 233 $ 339
Preferred stock, $0.01 par value, 80,000,000 shares authorized:      
Preferred stock par value (in dollars per share) $ 0.01 $ 0.01 $ 0.01
Preferred stock, shares authorized (in shares) 80,000,000 80,000,000 80,000,000
Common stock, par value (in dollars per share) $ 0.01 $ 0.01 $ 0.01
Common stock, shares authorized (in shares) 250,000,000 250,000,000 250,000,000
Common stock, shares issued (in shares) 65,993,893 65,993,893 69,919,065
Common stock, shares outstanding (in shares) 65,993,893 65,993,893 69,919,065
Series B Preferred Stock      
Liabilities [Abstract]      
Temporary equity, dividend rate (as a percent) 5.50% 5.50% 5.50%
Temporary equity, par value (in dollars per share) $ 0.01 $ 0.01 $ 0.01
Temporary equity, shares issued (in shares) 3,078,017 3,078,017 3,078,017
Temporary equity, shares outstanding (in shares) 3,078,017 3,078,017 3,078,017
Series E Preferred Stock      
Liabilities [Abstract]      
Temporary equity, par value (in dollars per share) $ 0.01 $ 0.01 $ 0.01
Temporary equity, shares issued (in shares) 16,409,685 16,409,685 12,656,529
Temporary equity, shares outstanding (in shares) 16,409,685 16,409,685 12,656,529
Series M Preferred Stock      
Liabilities [Abstract]      
Temporary equity, dividend rate (as a percent)   0.00082%  
Temporary equity, par value (in dollars per share) $ 0.01 $ 0.01 $ 0.01
Temporary equity, shares issued (in shares) 1,911,703 1,911,703 1,428,332
Temporary equity, shares outstanding (in shares) 1,911,703 1,911,703 1,428,332
Series D Preferred Stock      
Preferred stock, $0.01 par value, 80,000,000 shares authorized:      
Preferred stock dividend rate (as a percent) 8.25% 8.25% 8.25%
Preferred stock, shares issued (in shares) 1,600,000 1,600,000 1,600,000
Preferred stock, shares outstanding (in shares) 1,600,000 1,600,000 1,600,000