Stockholders' Equity - Series C (Details) $ / shares in Units, $ in Thousands					12 Months Ended
	Jul. 01, 2020 $ / shares	Mar. 02, 2020 USD ($)	Feb. 28, 2020 quarter director $ / shares shares	Apr. 15, 2013 $ / shares shares	Dec. 31, 2022 USD ($) director quarter $ / shares shares	Dec. 31, 2021 USD ($) $ / shares shares	Dec. 31, 2020 USD ($) $ / shares	Dec. 31, 2019 $ / shares
Class of Stock [Line Items]
Proceeds from issuance of series C preferred stock | $					$ 0	$ 0	$ 275,000
Maximum quarters without dividends to get voting rights, in quarters | quarter					6
Series C Preferred Stock
Class of Stock [Line Items]
Preferred stock, dividend rate					6.50%	6.50%
Preferred stock, shares issued (in shares) | shares					11,000,000	11,000,000
Preferred stock, par value (in dollars per share)					$ 0.01	$ 0.01
Minimum percentage of preferred shareholders required for approval					66.67%
Preferred stock, per share amounts of preferred dividends in arrears	$ 0.53264
Series C Preferred Stock | Preferred Stock
Class of Stock [Line Items]
Preferred stock, dividend rate			6.50%		6.50%	6.50%	6.50%
Shares reclassified to redeemable capital stock (in shares) | shares			12,650,000
Preferred stock, shares issued (in shares) | shares			11,000,000
Preferred stock, par value (in dollars per share)			$ 0.01
Preferred stock, liquidation preference (in dollars per share)			25.00		$ 25.00	$ 25.00	$ 25.00
Proceeds from issuance of series C preferred stock | $		$ 266,000
Preferred stock, redemption price (in dollars per share)			$ 25.00
Maximum quarters without dividends to get voting rights, in quarters | quarter			6
Number of additional directors that can be elected by preferred stock holders | director			2
Series C Preferred Stock | Preferred Stock | LIBOR
Class of Stock [Line Items]
Debt instrument, basis spread on variable rate			5.345%
Series B Preferred Stock
Class of Stock [Line Items]
Preferred stock, dividend rate					7.50%	7.50%
Preferred stock, shares issued (in shares) | shares					8,000,000	8,000,000
Preferred stock, par value (in dollars per share)					$ 0.01	$ 0.01
Minimum percentage of preferred shareholders required for approval					66.67%
Series B Preferred Stock | Preferred Stock
Class of Stock [Line Items]
Preferred stock, dividend rate				7.50%	7.50%	7.50%	7.50%	7.50%
Preferred stock, shares issued (in shares) | shares				8,000,000
Preferred stock, par value (in dollars per share)				$ 0.01
Preferred stock, liquidation preference (in dollars per share)				25.00	$ 25.00	$ 25.00	$ 25.00	$ 25.00
Preferred stock, redemption price (in dollars per share)				$ 25.00
Number of additional directors that can be elected by preferred stock holders | director					2