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CONDENSED CONSOLIDATED STATEMENTS OF CHANGES IN EQUITY (Parenthetical) - $ / shares
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Dividends declared per share of common stock (in dollars per share) $ 0.60 $ 0.57 $ 1.79 $ 1.72
Series C Preferred Stock        
Dividends declared per share of preferred stock (in dollars per share) $ 12.19 $ 12.19 $ 36.57 $ 36.57