Stockholders’ Equity - Series C (Details) $ / shares in Units, $ in Millions				12 Months Ended
	Mar. 02, 2020 USD ($) $ / shares shares	Feb. 28, 2020 quarter director $ / shares shares	Apr. 15, 2013 quarter	Dec. 31, 2023 $ / shares shares	Dec. 31, 2022 $ / shares shares	Dec. 31, 2021 $ / shares	Dec. 31, 2020 $ / shares
Class of Stock [Line Items]
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 (as a percent)				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%
Series C Preferred Stock | Preferred Stock
Class of Stock [Line Items]
Preferred stock, dividend rate (as a percent)		6.50%		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	$ 25.00	$ 25.00
Proceeds from issuance of series C 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
Series C Preferred Stock | Preferred Stock | LIBOR
Class of Stock [Line Items]
Debt instrument, basis spread on variable rate		5.345%