Stockholders' Equity - Schedule of Preferred Stock (Details) - USD ($) shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2021	Dec. 31, 2022
Class of Stock [Line Items]
Shares Outstanding (in shares)	32,876		33,111
Par Value	$ 329
Liquidation Preference	$ 821,899		$ 827,779
Series H
Class of Stock [Line Items]
Dividend Rate Per Annum	7.125%	7.125%
Shares Outstanding (in shares)	8,395
Par Value	$ 84
Liquidation Preference	$ 209,870
Series I
Class of Stock [Line Items]
Dividend Rate Per Annum	7.15%
Shares Outstanding (in shares)	12,867
Par Value	$ 129
Liquidation Preference	$ 321,668
Series J
Class of Stock [Line Items]
Dividend Rate Per Annum	7.125%
Shares Outstanding (in shares)	11,614
Par Value	$ 116
Liquidation Preference	$ 290,361