Equity - Preferred Shares Tendered and Common Shares Issued (Details) - shares shares in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2021
Preferred Shares Tendered | Privately Negotiated Exchange Agreements
Class of Stock [Line Items]
Shares tendered and issued (in shares)	320	8,647
Common Shares Initially Issued | Privately Negotiated Exchange Agreements
Class of Stock [Line Items]
Shares tendered and issued (in shares)		61,498
Common Shares Issued
Class of Stock [Line Items]
Shares tendered and issued (in shares)	2,110	7,776
Common Shares Issued | Privately Negotiated Exchange Agreements
Class of Stock [Line Items]
Shares tendered and issued (in shares)	2,110	7,776
Preferred Stock, Series D
Class of Stock [Line Items]
Preferred stock percentage	8.45%
Preferred Stock, Series D | Preferred Shares Tendered
Class of Stock [Line Items]
Shares tendered and issued (in shares)	14	617
Preferred Stock, Series D | Preferred Shares Tendered | Privately Negotiated Exchange Agreements
Class of Stock [Line Items]
Shares tendered and issued (in shares)	14	617
Preferred Stock, Series D | Common Shares Initially Issued | Privately Negotiated Exchange Agreements
Class of Stock [Line Items]
Shares tendered and issued (in shares)		4,174
Preferred Stock, Series D | Common Shares Issued | Privately Negotiated Exchange Agreements
Class of Stock [Line Items]
Shares tendered and issued (in shares)	89	653
Preferred Stock, Series F
Class of Stock [Line Items]
Preferred stock percentage	7.375%
Preferred Stock, Series F | Preferred Shares Tendered
Class of Stock [Line Items]
Shares tendered and issued (in shares)	76	1,640
Preferred Stock, Series F | Preferred Shares Tendered | Privately Negotiated Exchange Agreements
Class of Stock [Line Items]
Shares tendered and issued (in shares)	76	1,640
Preferred Stock, Series F | Common Shares Initially Issued | Privately Negotiated Exchange Agreements
Class of Stock [Line Items]
Shares tendered and issued (in shares)		11,185
Preferred Stock, Series F | Common Shares Issued | Privately Negotiated Exchange Agreements
Class of Stock [Line Items]
Shares tendered and issued (in shares)	527	1,482
Preferred Stock, Series G
Class of Stock [Line Items]
Preferred stock percentage	7.375%
Preferred Stock, Series G | Preferred Shares Tendered
Class of Stock [Line Items]
Shares tendered and issued (in shares)		2,891
Preferred Stock, Series G | Preferred Shares Tendered | Privately Negotiated Exchange Agreements
Class of Stock [Line Items]
Shares tendered and issued (in shares)	0	2,891
Preferred Stock, Series G | Common Shares Initially Issued | Privately Negotiated Exchange Agreements
Class of Stock [Line Items]
Shares tendered and issued (in shares)		21,371
Preferred Stock, Series G | Common Shares Issued | Privately Negotiated Exchange Agreements
Class of Stock [Line Items]
Shares tendered and issued (in shares)	0	2,764
Preferred Stock, Series H
Class of Stock [Line Items]
Preferred stock percentage	7.50%
Preferred Stock, Series H | Preferred Shares Tendered
Class of Stock [Line Items]
Shares tendered and issued (in shares)	138	1,361
Preferred Stock, Series H | Preferred Shares Tendered | Privately Negotiated Exchange Agreements
Class of Stock [Line Items]
Shares tendered and issued (in shares)	138	1,361
Preferred Stock, Series H | Common Shares Initially Issued | Privately Negotiated Exchange Agreements
Class of Stock [Line Items]
Shares tendered and issued (in shares)		10,033
Preferred Stock, Series H | Common Shares Issued | Privately Negotiated Exchange Agreements
Class of Stock [Line Items]
Shares tendered and issued (in shares)	882	1,217
Preferred Stock, Series I
Class of Stock [Line Items]
Preferred stock percentage	7.50%
Preferred Stock, Series I | Preferred Shares Tendered
Class of Stock [Line Items]
Shares tendered and issued (in shares)	92	2,138
Preferred Stock, Series I | Preferred Shares Tendered | Privately Negotiated Exchange Agreements
Class of Stock [Line Items]
Shares tendered and issued (in shares)	92	2,138
Preferred Stock, Series I | Common Shares Initially Issued | Privately Negotiated Exchange Agreements
Class of Stock [Line Items]
Shares tendered and issued (in shares)		14,735
Preferred Stock, Series I | Common Shares Issued | Privately Negotiated Exchange Agreements
Class of Stock [Line Items]
Shares tendered and issued (in shares)	612	1,660