Common Stock and Preferred Stock - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands							1 Months Ended					2 Months Ended		12 Months Ended
	Nov. 15, 2021	Aug. 15, 2021	May 15, 2021	Feb. 15, 2021	Nov. 11, 2020	Aug. 21, 2020	Nov. 30, 2021	Dec. 31, 2020	Nov. 30, 2020	Sep. 30, 2020	Aug. 31, 2020	Dec. 31, 2021	Sep. 30, 2020	Dec. 31, 2021	Dec. 31, 2020	Oct. 28, 2021
Class of Stock [Line Items]
Proceeds from issuance of preferred stock														$ 0	$ 87,359
Preferred stock, shares authorized (in shares)								50,000,000				50,000,000		50,000,000	50,000,000
LifeDojo Inc.
Class of Stock [Line Items]
Common stock issued relating to settlement of contingent consideration (in shares)							164,898
Contingent consideration							$ 1,800					$ 400		$ 400		$ 1,800
Common Stock | At the Market Program
Class of Stock [Line Items]
Maximum offering price							$ 70,000
Sale of stock, number of shares issued												1,324,185
Sale of stock, consideration, gross												$ 11,100
Sale of stock, consideration												10,800
Series A Cumulative Perpetual Preferred Stock
Class of Stock [Line Items]
Stock issued, net (in shares)											1,700,000
Preferred stock, dividend rate (in percentage)	9.50%	9.50%	9.50%	9.50%		9.50%					9.50%
Proceeds from issuance of preferred stock								$ 44,900					$ 48,900
Proceeds from issuance of preferred stock net of underwriting fees and other								$ 41,400					$ 45,100
Preferred stock, redemption price (in dollars per share)											$ 25.00
Preferred stock, liquidation preference (in dollars per share)	$ 25.00	$ 25.00	$ 25.00	$ 25.00							25.00
Preferred Stock, liquidation preference, per annum (in dollars per share)											$ 2.375
Preferred stock, dividend rate (in dollars per share)	$ 0.593750	$ 0.593750	$ 0.593750	$ 0.593750	$ 0.6333333
Preferred stock, undeclared dividends												$ 700		$ 700
Series A Cumulative Perpetual Preferred Stock | At the Market Program
Class of Stock [Line Items]
Stock issued, net (in shares)									5,027
Preferred stock, shares authorized (in shares)										2,000,000			2,000,000
Series A Cumulative Perpetual Preferred Stock | Over-Allotment Option
Class of Stock [Line Items]
Stock issued, net (in shares)								80,238		255,000
Series A Cumulative Perpetual Preferred Stock | Underwritten Offering
Class of Stock [Line Items]
Stock issued, net (in shares)								1,730,000