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Redeemable Preferred Stock - Issuance Activity (Details)
 3 Months Ended 9 Months Ended 12 Months Ended
Apr. 02, 2021
$ / shares
shares
Sep. 30, 2023
$ / shares
Sep. 30, 2022
Sep. 30, 2023
day
$ / shares
Sep. 30, 2022
Dec. 31, 2022
$ / shares
Series B Preferred Stock            
Class of Stock [Line Items]            
Temporary equity, dividend rate (as a percent)   5.50% 5.50% 5.50% 5.50% 5.50%
Initial conversion/redemption price (in dollars per share)   $ 18.70   $ 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   $ 25.00    
Redemption percent of liquidation preference   103.00%   103.00%    
Liquidation preference per share (in dollars per share)   $ 25.00   $ 25.00    
Temporary equity, par value (in dollars per share)   $ 0.01   $ 0.01   $ 0.01
Series B Preferred Stock | Minimum            
Class of Stock [Line Items]            
Percent of conversion price   110.00%   110.00%    
Series E Preferred Stock            
Class of Stock [Line Items]            
Initial conversion/redemption price (in dollars per share)   $ 25.00   $ 25.00    
Temporary equity conversion rate       5.69476    
Temporary equity, par value (in dollars per share)   0.01   $ 0.01   0.01
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   8.00%   8.00%    
Redemption fee, percent of stated value beginning on the first anniversary   5.00%   5.00%    
Redemption fee, percent of stated value beginning on the third anniversary   0.00%   0.00%    
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   $ 25.00    
Temporary equity conversion rate       5.69476    
Temporary equity, par value (in dollars per share) 0.01 0.01   $ 0.01   $ 0.01
Sale of temporary equity, offering price (in dollars per share) $ 25.00 $ 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%   1.50%    
Redemption fee, percent of stated value beginning on the first anniversary   0.00%   0.00%    
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%   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