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Redeemable Preferred Stock - Series M Preferred Stock Activity (Details) - Series M Preferred Stock - USD ($)
shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Class of Stock [Line Items]      
Preferred Stock shares redeemed (in shares) 137 5 0
Redemption amount, net of redemption fees $ 3,395 $ 134 $ 0