Income Taxes - Tax Status of Dividends (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Schedule of Tax Status of Dividends [Line Items]
Dividend per share, common shares	$ 2.62	$ 2.525	$ 2.41
Series A [Member]
Schedule of Tax Status of Dividends [Line Items]
Dividend per share, preferred shares	0.39
Series B [Member]
Schedule of Tax Status of Dividends [Line Items]
Dividend per share, preferred shares	$ 0.37
Common Stock [Member]
Schedule of Tax Status of Dividends [Line Items]
Ordinary income	100.00%	100.00%	92.00%
Capital gain	0.00%	0.00%	8.00%
Additional tax status information:
Allocation of Dividends, Qualified Dividend Income	0.00%	0.00%	1.00%
Allocation of Dividends, Section 199A Dividend	100.00%	100.00%	91.00%
Allocation of Dividend, Section 897 ordinary dividends	0.00%	0.00%	2.00%
Allocation of Dividends, Section 897 capital gains	0.00%	0.00%	4.00%
Preferred Stock [Member] | Series A [Member]
Schedule of Tax Status of Dividends [Line Items]
Ordinary income	100.00%
Capital gain	0.00%
Additional tax status information:
Allocation of Dividends, Qualified Dividend Income	0.00%
Allocation of Dividends, Section 199A Dividend	100.00%
Allocation of Dividend, Section 897 ordinary dividends	0.00%
Allocation of Dividends, Section 897 capital gains	0.00%
Preferred Stock [Member] | Series B [Member]
Schedule of Tax Status of Dividends [Line Items]
Ordinary income	100.00%
Capital gain	0.00%
Additional tax status information:
Allocation of Dividends, Qualified Dividend Income	0.00%
Allocation of Dividends, Section 199A Dividend	100.00%
Allocation of Dividend, Section 897 ordinary dividends	0.00%
Parent Company [Member]
Schedule of Tax Status of Dividends [Line Items]
Dividend per share, common shares	$ 2.56	$ 2.53	$ 2.53