Stockholders' Equity - Preferred Stock (Details) - USD ($) $ / shares in Units, $ in Thousands		3 Months Ended	60 Months Ended
	Jul. 16, 2023	Mar. 31, 2020	Jul. 15, 2023	Dec. 31, 2019
Class of Stock
Shares of preferred stock issued		2,565,120		2,565,120
Aggregate liquidation preference		$ 450,000		$ 450,000
Preferred stock | Preferred Stock Series A
Class of Stock
Dividend rate per year		7.50%
Shares of preferred stock issued		2,200,000
Depositary shares issued		0
Liquidation preference per share		$ 25
Aggregate liquidation preference		$ 55,000
Preferred stock | Preferred Stock Series B
Class of Stock
Dividend rate per year		7.50%
Shares of preferred stock issued		165,000
Depositary shares issued		6,600,000
Liquidation preference per share		$ 1,000
Aggregate liquidation preference		$ 165,000
Preferred stock | Preferred Stock Series C
Class of Stock
Dividend rate per year		7.50%
Shares of preferred stock issued		200,000
Depositary shares issued		8,000,000
Liquidation preference per share		$ 1,000
Aggregate liquidation preference		$ 200,000
Preferred stock | Preferred Stock Series D
Class of Stock
Shares of preferred stock issued		120
Depositary shares issued		0
Liquidation preference per share		$ 250,000
Aggregate liquidation preference		$ 30,000
Preferred stock | Subsequent Event | Preferred Stock Series D
Class of Stock
Dividend rate per year	5.4941%		7.00%
Dividend rate per year	six-month LIBOR