Stockholders' Equity - Dividend Transactions (Details) - USD ($)																																																			12 Months Ended
	Dec. 29, 2021	Dec. 27, 2021	Nov. 29, 2021	Oct. 28, 2021	Oct. 27, 2021	Sep. 29, 2021	Sep. 27, 2021	Aug. 27, 2021	Jul. 29, 2021	Jul. 27, 2021	Jun. 29, 2021	Jun. 28, 2021	May 27, 2021	Apr. 29, 2021	Apr. 27, 2021	Mar. 29, 2021	Feb. 26, 2021	Jan. 28, 2021	Jan. 27, 2021	Dec. 29, 2020	Dec. 28, 2020	Nov. 27, 2020	Oct. 29, 2020	Oct. 27, 2020	Sep. 29, 2020	Sep. 28, 2020	Aug. 28, 2020	Aug. 27, 2020	Jul. 30, 2020	Jul. 27, 2020	Jun. 29, 2020	May 27, 2020	Apr. 27, 2020	Mar. 27, 2020	Feb. 27, 2020	Jan. 30, 2020	Jan. 27, 2020	Dec. 27, 2019	Nov. 27, 2019	Oct. 28, 2019	Sep. 27, 2019	Aug. 27, 2019	Jul. 29, 2019	Jun. 27, 2019	May 28, 2019	Apr. 29, 2019	Mar. 27, 2019	Feb. 28, 2019	Feb. 27, 2019	Jan. 28, 2019	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Class of Stock [Line Items]
Aggregate amount paid to holders of record																																																			$ 96,630,000	$ 75,486,000	$ 124,477,000
Series A Preferred Stock
Class of Stock [Line Items]
Preferred stock dividends cash paid (in dollars per share)																																												$ 0.17	$ 0.17	$ 0.17	$ 0.17		$ 0.17	$ 0.17
Payments of dividends																																											$ 375,000	$ 374,800	$ 374,800	$ 374,800	$ 374,800		$ 374,800	$ 374,800	0	0	2,249,000
Series B Preferred Stock
Class of Stock [Line Items]
Preferred stock dividends cash paid (in dollars per share)																																					$ 0.16	$ 0.16	$ 0.16	$ 0.16	$ 0.16	$ 0.16	$ 0.16	$ 0.16	$ 0.16	$ 0.16	$ 0.16		$ 0.16	$ 0.16
Payments of dividends																																			$ 1,375,000		$ 1,375,000	$ 1,291,000	$ 1,210,000	$ 1,190,000	$ 1,168,000	$ 1,142,000	$ 1,100,000	$ 1,059,000	$ 1,045,000	$ 1,045,000	$ 1,045,000		$ 1,045,000	$ 1,045,000	0	1,375,000	13,385,000
Series C Preferred Stock
Class of Stock [Line Items]
Preferred stock dividends cash paid (in dollars per share)		$ 0.14583	$ 0.14583		$ 0.14583		$ 0.14583	$ 0.14583		$ 0.14583		$ 0.14583	$ 0.14583		$ 0.14583	$ 0.14583	$ 0.14583		$ 0.14583		$ 0.14583	$ 0.14583		$ 0.14583		$ 0.14583		$ 0.14583		$ 0.14583	$ 0.14583	$ 0.14583	$ 0.14583	$ 0.14583	$ 0.14583
Payments of dividends		$ 998,500	$ 998,500		$ 998,500		$ 998,500	$ 998,500		$ 998,500		$ 998,500	$ 998,500		$ 998,500	$ 869,600	$ 836,900		$ 779,700		$ 773,400	$ 773,400		$ 773,400		$ 773,400		$ 773,400		$ 773,400	$ 773,400	$ 773,400	$ 773,400	$ 773,400	$ 678,100																11,473,000	8,412,000	0
Common Stock
Class of Stock [Line Items]
Common stock dividends cash paid (in dollars per share)	$ 0.10		$ 0.10	$ 0.10		$ 0.10		$ 0.10	$ 0.10		$ 0.10		$ 0.10	$ 0.10		$ 0.10	$ 0.10	$ 0.10		$ 0.10		$ 0.10	$ 0.10		$ 0.10		$ 0.10		$ 0.10		$ 0.09			$ 0.17	$ 0.17	$ 0.17		$ 0.17	$ 0.17	$ 0.17	$ 0.17	$ 0.17	$ 0.17	$ 0.19	$ 0.19	$ 0.19	$ 0.19	$ 0.19		$ 0.19
Aggregate amount paid to holders of record	$ 9,503,000		$ 9,347,000	$ 9,065,000		$ 8,635,000		$ 8,413,000	$ 8,413,000		$ 8,317,000		$ 7,646,000	$ 7,234,000		$ 6,766,000	$ 6,645,000	$ 6,646,000		$ 6,581,000		$ 6,531,000	$ 6,531,000		$ 6,529,000		$ 6,530,000		$ 6,531,000		$ 5,876,000			$ 10,120,000	$ 10,131,000	$ 10,126,000		$ 10,059,000	$ 10,059,000	$ 10,059,000	$ 10,075,000	$ 10,099,000	$ 10,114,000	$ 11,350,000	$ 11,424,000	$ 11,424,000	$ 11,423,000	$ 9,851,000		$ 8,540,000	$ 96,630,000	$ 75,486,000	$ 124,477,000