Condensed Consolidated Statements of Changes in Retained Earnings, Accumulated Other Comprehensive Loss and Noncontrolling Interests (Parenthetical) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Statement of Stockholders' Equity [Abstract]
Tax reclassification adjustment	$ 1,095	$ 1,111	$ 3,318	$ 3,257
Common stock, dividends (in dollars per share)	$ 0.44	$ 0.43	$ 1.31	$ 1.28
Preferred stock, dividends (in dollars per share)	$ 0.5625	$ 0.5625	$ 1.6875	$ 1.6875