Stockholders' Equity - Series C (Details) $ / shares in Units, $ in Millions							3 Months Ended						9 Months Ended		12 Months Ended
	Sep. 20, 2023 $ / shares	Jun. 15, 2023 $ / shares	Mar. 10, 2023 $ / shares	Mar. 02, 2020 USD ($) $ / shares shares	Feb. 28, 2020 director quarter $ / shares shares	Apr. 15, 2013 $ / shares shares	Sep. 30, 2023 $ / shares shares	Jun. 30, 2023 $ / shares	Mar. 31, 2023 $ / shares	Sep. 30, 2022 $ / shares	Jun. 30, 2022 $ / shares	Mar. 31, 2022 $ / shares	Sep. 30, 2023 quarter director $ / shares shares	Sep. 30, 2022 $ / shares	Dec. 31, 2022 $ / shares shares
Class of Stock [Line Items]
Dividend declared per share, common stock (in dollars per share)	$ 0.350	$ 0.350	$ 0.350				$ 0.35	$ 0.35	$ 0.35	$ 0.44	$ 0.44	$ 0.440
Series B Preferred Stock
Class of Stock [Line Items]
Preferred stock, dividend rate (as a percent)													7.50%		7.50%
Preferred stock, shares issued (in shares) | shares							8,000,000						8,000,000		8,000,000
Preferred stock, par value (in dollars per share)							$ 0.01						$ 0.01		$ 0.01
Series C Preferred Stock
Class of Stock [Line Items]
Preferred stock, dividend rate (as a percent)													6.50%		6.50%
Preferred stock, shares issued (in shares) | shares							11,000,000						11,000,000		11,000,000
Preferred stock, par value (in dollars per share)							$ 0.01						$ 0.01		$ 0.01
Preferred Stock | Series B Preferred Stock
Class of Stock [Line Items]
Preferred stock, dividend rate (as a percent)						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
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
Preferred Stock | Series C Preferred Stock
Class of Stock [Line Items]
Preferred stock, dividend rate (as a percent)					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			$ 25.00	$ 25.00
Proceeds from issuance of redeemable preferred stock | $				$ 266.0
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
Preferred Stock | Series C Preferred Stock | LIBOR
Class of Stock [Line Items]
Debt instrument, basis spread on variable rate (in percent)					5.345%