Stockholders' Equity - Series B (Details) shares in Thousands			3 Months Ended		12 Months Ended
	Feb. 28, 2020 quarter director $ / shares	Apr. 15, 2013 $ / shares shares	Mar. 31, 2024 quarter director $ / shares shares	Mar. 31, 2023 $ / shares	Dec. 31, 2023 $ / shares shares	Mar. 02, 2020 $ / shares shares
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		8,000
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 (as a percent)		7.50%	7.50%	7.50%
Preferred stock, shares issued (in shares) | shares		8,000
Preferred stock, par value (in dollars per share)		$ 0.01
Preferred stock, liquidation preference (in dollars per share)		25.00	$ 25.00	$ 25.00
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
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		11,000
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%
Preferred stock, shares issued (in shares) | shares						11,000
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
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