Commitments and Contingencies - Preferred Dividend Arrearages (Details) $ / shares in Units, shares in Millions, $ in Millions	3 Months Ended
	Mar. 31, 2023 USD ($) $ / shares shares
Other Commitments [Line Items]
Preferred shares, authorized (in shares) | shares	25.0
Cumulative amount of unpaid dividends on preferred stock | $	$ 75.3
Series B Preferred Stock
Other Commitments [Line Items]
Preferred stock annual dividend rate	$ 0.46
Unpaid dividends per share on preferred stock	5.07
Series C Preferred Stock
Other Commitments [Line Items]
Preferred stock annual dividend rate	0.45
Unpaid dividends per share on preferred stock	4.95
Series D Preferred Stock
Other Commitments [Line Items]
Preferred stock annual dividend rate	0.43
Unpaid dividends per share on preferred stock	$ 4.73