Commitments and Contingencies - Preferred Dividend Arrearages (Details) $ / shares in Units, shares in Millions, $ in Millions	12 Months Ended
	Dec. 31, 2022 USD ($) $ / shares shares
Other Commitments [Line Items]
Preferred shares, authorized (in shares) | shares	25.0
Cumulative amount of unpaid dividends on preferred stock | $	$ 68.4
Series B Preferred Stock
Other Commitments [Line Items]
Preferred stock annual dividend rate	$ 1.8436
Unpaid dividends per share on preferred stock	0.61
Series C Preferred Stock
Other Commitments [Line Items]
Preferred stock annual dividend rate	1.80
Unpaid dividends per share on preferred stock	0.50
Series D Preferred Stock
Other Commitments [Line Items]
Preferred stock annual dividend rate	1.7188
Unpaid dividends per share on preferred stock	$ 0.30