CONSOLIDATED STATEMENTS OF CHANGES IN STOCKHOLDERS’ EQUITY (Parenthetical) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Common stock, cash dividends declared (in dollars per share)	$ 1.40	$ 1.67	$ 1.540
Series C Preferred Stock
Preferred stock, dividend rate (as a percent)	6.50%	6.50%
Preferred stock, cash dividends declared (in dollars per share)	$ 1.625	$ 1.625	1.625
Series B Preferred Stock
Preferred stock, dividend rate (as a percent)	7.50%	7.50%
Preferred stock, cash dividends declared (in dollars per share)	$ 1.875	$ 1.875	$ 1.875
Preferred Stock | Series C Preferred Stock
Preferred stock, dividend rate (as a percent)	6.50%	6.50%	6.50%
Preferred stock, liquidation preference per share (in dollars per share)	$ 25.00	$ 25.00	$ 25.00
Preferred Stock | Series B Preferred Stock
Preferred stock, dividend rate (as a percent)	7.50%	7.50%	7.50%
Preferred stock, liquidation preference per share (in dollars per share)	$ 25.00	$ 25.00	$ 25.00
Common Stock
Adjustments related to tax withholding for share-based compensation	$ 600	$ 1,000	$ 799
Shares paid for tax withholding for share based compensation (in shares)	58,505	56,690	53,281