CONSOLIDATED STATEMENTS OF CHANGES IN STOCKHOLDERS' EQUITY (Parenthetical) $ in Thousands	12 Months Ended
	Dec. 31, 2022 USD ($) $ / shares shares	Dec. 31, 2021 USD ($) $ / shares shares	Dec. 31, 2020 USD ($) $ / shares shares
Common stock, cash dividends declared (in dollars per share)	$ 1.67	$ 1.540	$ 0.500
Common stock, cash dividends declared (in dollars per share)	$ 1.67	$ 1.540	$ 0.500
Change in accrued dividends attributable to stock-based awards | $	$ (2,432)	$ (837)	$ 856
Common Stock
Adjustments related to tax withholding for share-based compensation | $	$ 1,000	$ 799	$ 2,700
Shares paid for tax withholding for share based compensation (in shares) | shares	56,690	53,281	90,134
Additional Paid-in Capital
Change in accrued dividends attributable to stock-based awards | $	$ (435)	$ (559)	$ 856
Series B Preferred Stock
Preferred stock, cash dividends declared (in dollars per share)	$ 1.875	$ 1.875	$ 1.875
Preferred stock, dividend rate	7.50%	7.50%
Series B Preferred Stock | Preferred Stock
Preferred stock, dividend rate	7.50%	7.50%	7.50%
Preferred stock, liquidation preference (in dollars per share)	$ 25.00	$ 25.00	$ 25.00
Series C Preferred Stock
Preferred stock, cash dividends declared (in dollars per share)	$ 1.625	$ 1.625	$ 1.345
Preferred stock, dividend rate	6.50%	6.50%
Series C Preferred Stock | Preferred Stock
Preferred stock, dividend rate	6.50%	6.50%	6.50%
Preferred stock, liquidation preference (in dollars per share)	$ 25.00	$ 25.00	$ 25.00