Shareholders' Equity - Preferred Stock (Details) - shares			12 Months Ended
	Jun. 11, 2019	Sep. 12, 2018	Dec. 31, 2023	Dec. 31, 2022
Preferred Stock
Class of Stock [Line Items]
Preferred stock, shares issued (in shares)			625,000	625,000
Preferred stock, shares outstanding (in shares)			625,000	625,000
Series A Preferred Stock
Class of Stock [Line Items]
Preferred stock, dividend rate, percentage		6.125%	7.758%	612.50%
Preferred stock, shares issued (in shares)		325,000	325,000	325,000
Preferred stock, shares outstanding (in shares)			325,000	325,000
Series B Preferred Stock
Class of Stock [Line Items]
Preferred stock, dividend rate, percentage	5.35%		5.35%
Preferred stock, shares issued (in shares)	300,000		300,000	300,000
Preferred stock, shares outstanding (in shares)			300,000	300,000