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Earnings per share (Details 3) - $ / shares
 12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Series A Preferred Stock One [Member]      
Dividend 8.25% 8.25% 8.25%
Declaration Date Feb. 12, 2016 Feb. 12, 2015 Feb. 14, 2014
Record Date Feb. 29, 2016 Feb. 27, 2015 Feb. 28, 2014
Payment Date Mar. 17, 2016 Mar. 17, 2015 Mar. 17, 2014
Dividend Per Share $ 0.51563 $ 0.51563 $ 0.51563
Series A Preferred Stock Two [Member]      
Dividend 8.25% 8.25% 8.25%
Declaration Date May 13, 2016 May 14, 2015 May 15, 2014
Record Date May 31, 2016 May 29, 2015 May 30, 2014
Payment Date Jun. 17, 2016 Jun. 17, 2015 Jun. 17, 2014
Dividend Per Share $ 0.51563 $ 0.51563 $ 0.51563
Series A Preferred Stock Three [Member]      
Dividend 8.25% 8.25% 8.25%
Declaration Date Aug. 15, 2016 Aug. 14, 2015 Aug. 14, 2014
Record Date Aug. 31, 2016 Aug. 31, 2015 Aug. 29, 2014
Payment Date Sep. 19, 2016 Sep. 17, 2015 Sep. 17, 2014
Dividend Per Share $ 0.51563 $ 0.51563 $ 0.51563
Series A Preferred Stock Four [Member]      
Dividend 8.25% 8.25% 8.25%
Declaration Date Nov. 16, 2016 Nov. 13, 2015 Nov. 12, 2014
Record Date Nov. 30, 2016 Nov. 30, 2015 Nov. 28, 2014
Payment Date Dec. 19, 2016 Dec. 17, 2015 Dec. 17, 2014
Dividend Per Share $ 0.51563 $ 0.51563 $ 0.51563
Series B Preferred Stock one [Member]      
Dividend 8.00% 8.00% 8.00%
Declaration Date Feb. 12, 2016 Feb. 12, 2015 Feb. 14, 2014
Record Date Feb. 29, 2016 Feb. 27, 2015 Feb. 28, 2014
Payment Date Mar. 17, 2016 Mar. 17, 2015 Mar. 17, 2014
Dividend Per Share $ 0.5 $ 0.5 $ 0.50
Series B Preferred Stock Two [Member]      
Dividend 8.00% 8.00% 8.00%
Declaration Date May 13, 2016 May 14, 2015 May 15, 2014
Record Date May 31, 2016 May 29, 2015 May 30, 2014
Payment Date Jun. 17, 2016 Jun. 17, 2015 Jun. 17, 2014
Dividend Per Share $ 0.5 $ 0.5 $ 0.50
Series B Preferred Stock Three [Member]      
Dividend 8.00% 8.00% 8.00%
Declaration Date Aug. 15, 2016 Aug. 14, 2015 Aug. 14, 2014
Record Date Aug. 31, 2016 Aug. 31, 2015 Aug. 29, 2014
Payment Date Sep. 19, 2016 Sep. 17, 2015 Sep. 17, 2014
Dividend Per Share $ 0.5 $ 0.5 $ 0.50
Series B Preferred Stock Four [Member]      
Dividend 8.00% 8.00% 8.00%
Declaration Date Nov. 16, 2016 Nov. 13, 2015 Nov. 12, 2014
Record Date Nov. 30, 2016 Nov. 30, 2015 Nov. 28, 2014
Payment Date Dec. 19, 2016 Dec. 17, 2015 Dec. 17, 2014
Dividend Per Share $ 0.50 $ 0.50 $ 0.50