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Stockholders' Equity - Dividend Transactions (Details) - USD ($)
3 Months Ended 9 Months Ended
Sep. 27, 2018
Aug. 28, 2018
Aug. 27, 2018
Jul. 27, 2018
Jun. 28, 2018
Jun. 27, 2018
May 30, 2018
May 29, 2018
Apr. 27, 2018
Mar. 28, 2018
Mar. 27, 2018
Feb. 27, 2018
Jan. 29, 2018
Sep. 30, 2018
Jun. 30, 2018
Mar. 31, 2018
Sep. 30, 2017
Jun. 30, 2017
Mar. 31, 2017
Sep. 30, 2018
Sep. 30, 2017
Class of Stock [Line Items]                                          
Common stock dividends cash paid (in dollars per share) $ 0.19 $ 0.19   $ 0.19 $ 0.19   $ 0.19   $ 0.19 $ 0.19   $ 0.19 $ 0.19 $ 0.19 $ 0.19 $ 0.19 $ 0.19 $ 0.19 $ 0.19    
Aggregate amount paid to holders of record $ 8,117,000 $ 8,045,000   $ 8,045,000 $ 8,045,000   $ 8,046,000   $ 8,046,000 $ 8,045,000   $ 8,046,000 $ 8,046,000             $ 72,481,000 $ 65,450,000
Series A Preferred Stock                                          
Class of Stock [Line Items]                                          
Preferred stock, dividends declared (in dollars per share) $ 0.17   $ 0.17 $ 0.17   $ 0.17   $ 0.17 $ 0.17   $ 0.17 $ 0.17 $ 0.17 0.171875 0.171875 0.171875 0.171875 0.171875 0.171875    
Aggregate amount paid to holders of record $ 374,800   $ 374,800 $ 374,800   $ 374,800   $ 374,800 $ 374,800   $ 374,800 $ 374,800 $ 374,800             3,373,000 3,373,000
Series B Preferred Stock                                          
Class of Stock [Line Items]                                          
Preferred stock, dividends declared (in dollars per share) $ 0.16   $ 0.16 $ 0.16   $ 0.16   $ 0.16 $ 0.16   $ 0.16 $ 0.16 $ 0.16 $ 0.1640625 $ 0.1640625 $ 0.1640625 $ 0.1640625 $ 0.1640625 $ 0.1640625    
Aggregate amount paid to holders of record $ 1,045,000   $ 1,045,000 $ 1,045,000   $ 1,045,000   $ 1,045,000 $ 1,045,000   $ 1,045,000 $ 1,045,000 $ 1,039,000             $ 9,399,000 $ 8,378,000