Shareholders' Equity - Preferred Stock and Dividends Paid Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022
Capital Unit [Line Items]
Preferred stock, shares issued (shares)	5,700,000		5,700,000		5,700,000
Preferred stock, value	$ 137,794		$ 137,794		$ 137,794
Series E Preferred Stock
Capital Unit [Line Items]
Preferred stock, shares issued (shares)	2,300,000		2,300,000		2,300,000
Preferred stock, value	$ 55,593		$ 55,593		$ 55,593
Initial Fixed Rate			6.45%
Preferred stock, dividends, per share, cash paid (usd per share)	$ 0.6831	$ 0.445233	$ 1.941704	$ 1.160316
Series E Preferred Stock | London Interbank Offered Rate (LIBOR)
Capital Unit [Line Items]
Floating rate of Three-Month LIBOR Plus:			5.14%
Series F Preferred Stock
Capital Unit [Line Items]
Preferred stock, shares issued (shares)	3,400,000		3,400,000		3,400,000
Preferred stock, value	$ 82,201		$ 82,201		$ 82,201
Initial Fixed Rate			6.00%
Preferred stock, dividends, per share, cash paid (usd per share)	$ 0.658950	$ 0.421083	$ 1.869779	$ 1.088391
Series F Preferred Stock | London Interbank Offered Rate (LIBOR)
Capital Unit [Line Items]
Floating rate of Three-Month LIBOR Plus:			4.762%