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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 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Class of Stock [Line Items]        
Preferred Stock shares redeemed (in shares) 51 2 56 2
Redemption amount, net of redemption fees $ 1,268 $ 59 $ 1,383 $ 59