CONSOLIDATED STATEMENTS OF CHANGES IN STOCKHOLDERS' EQUITY (UNAUDITED) (Parenthetical) $ in Thousands	3 Months Ended
	Mar. 31, 2023 USD ($) $ / shares shares	Mar. 31, 2022 USD ($) $ / shares shares
Dividend declared per share, common stock (in dollars per share)	$ 0.35	$ 0.440
Common stock, cash dividends declared (in dollars per share)	$ 0.35	0.440
Series B Preferred Stock
Preferred Stock, dividend rate	7.50%
Dividend declared per share, preferred stock (in dollars per share)	$ 0.46875	0.46875
Series C Preferred Stock
Preferred Stock, dividend rate	6.50%
Dividend declared per share, preferred stock (in dollars per share)	$ 0.40625	$ 0.40625
Preferred Stock | Series B Preferred Stock
Preferred Stock, dividend rate	7.50%	7.50%
Preferred Stock, liquidation preference per share (in dollars per share)	$ 25.00	$ 25.00
Preferred Stock | Series C Preferred Stock
Preferred Stock, dividend rate	6.50%	6.50%
Preferred Stock, liquidation preference per share (in dollars per share)	$ 25.00	$ 25.00
Common Stock
Adjustments related to tax withholding for share-based compensation | $	$ 600	$ 1,000
Shares paid for tax withholding for share based compensation (in shares) | shares	58,505	56,690