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CONSOLIDATED BALANCE SHEETS (Parenthetical) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
ASSETS    
Allowance for doubtful notes receivable $ 237 $ 339
Liabilities [Abstract]    
Temporary equity, shares outstanding (in shares) 7,224,000 8,283,000
Preferred stock, $0.01 par value, 80,000,000 shares authorized:    
Preferred stock par value (in dollars per share) $ 0.01 $ 0.01
Preferred stock, shares authorized (in shares) 80,000,000 80,000,000
Common stock, par value (in dollars per share) $ 0.01 $ 0.01
Common stock, shares authorized (in shares) 250,000,000 250,000,000
Common stock, shares issued (in shares) 66,636,353 69,919,065
Common stock, shares outstanding (in shares) 66,636,353 69,919,065
Series B Preferred Stock    
Liabilities [Abstract]    
Temporary equity, dividend rate (as a percent) 5.50% 5.50%
Temporary equity, par value (in dollars per share) $ 0.01 $ 0.01
Temporary equity, shares issued (in shares) 3,078,017 3,078,017
Temporary equity, shares outstanding (in shares) 3,078,017 3,078,017
Series E Preferred Stock    
Liabilities [Abstract]    
Temporary equity, par value (in dollars per share) $ 0.01 $ 0.01
Temporary equity, shares issued (in shares) 16,316,315 12,656,529
Temporary equity, shares outstanding (in shares) 16,316,315 12,656,529
Series M Preferred Stock    
Liabilities [Abstract]    
Temporary equity, dividend rate (as a percent) 0.082%  
Temporary equity, par value (in dollars per share) $ 0.01 $ 0.01
Temporary equity, shares issued (in shares) 1,832,805 1,428,332
Temporary equity, shares outstanding (in shares) 1,832,805 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%
Preferred stock, shares issued (in shares) 1,600,000 1,600,000
Preferred stock, shares outstanding (in shares) 1,600,000 1,600,000