Commitments and Contingencies - Preferred Dividend Arrearages (Details) $ / shares in Units, shares in Millions, $ in Millions	6 Months Ended
	Jun. 30, 2023 USD ($) $ / shares shares
Other Commitments [Line Items]
Preferred shares, authorized (in shares) | shares	25.0
Cumulative amount of unpaid dividends on preferred stock | $	$ 82.1
Series B Preferred Stock
Other Commitments [Line Items]
Preferred stock annual dividend rate	$ 1.8436
Unpaid dividends per share on preferred stock	5.53
Series C Preferred Stock
Other Commitments [Line Items]
Preferred stock annual dividend rate	1.8000
Unpaid dividends per share on preferred stock	5.40
Series D Preferred Stock
Other Commitments [Line Items]
Preferred stock annual dividend rate	1.7188
Unpaid dividends per share on preferred stock	$ 5.16