Preferred Stock (Details)									3 Months Ended	9 Months Ended	12 Months Ended
	Oct. 01, 2024	May 13, 2024 USD ($) shares	Sep. 30, 2022 USD ($) shares	Sep. 27, 2022 USD ($) $ / shares shares	Mar. 23, 2021 USD ($) $ / shares shares	Aug. 19, 2019 USD ($) $ / shares shares	Apr. 12, 2019 USD ($) shares	Mar. 28, 2019 USD ($) $ / shares shares	Dec. 31, 2024	Sep. 30, 2024 $ / shares	Dec. 31, 2023 $ / shares	Apr. 01, 2024 USD ($) $ / shares
Public offering
Public Offering of Preferred Stock
Issuance of stock (in shares) | shares		2,400,000
Offering costs		$ 5,500,000
7% Series A Preferred Stock
Public Offering of Preferred Stock
Preferred stock, dividend rate (as a percent)										7.00%	7.00%
Preferred stock liquidation preference (in dollars per share) | $ / shares										$ 25	$ 25
7% Series A Preferred Stock | Public offering
Public Offering of Preferred Stock
Issuance of stock (in shares) | shares							81,800	2,000,000
Preferred stock, dividend rate (as a percent)								7.00%
Preferred stock liquidation preference (in dollars per share) | $ / shares								$ 25.00				$ 25.00
Preferred stock liquidation preference value												$ 52,000,000
Aggregate gross offering proceeds for the shares issued								$ 50,000,000.0
Net proceeds							$ 2,000,000.0	48,300,000
Offering costs								$ 1,700,000
Underwriting discounts							$ 41,000
6% Series B Preferred Stock
Public Offering of Preferred Stock
Preferred stock, dividend rate (as a percent)										6.00%	6.00%
Preferred stock liquidation preference (in dollars per share) | $ / shares										$ 1,000	$ 1,000
6% Series B Preferred Stock | Subsequent Events
Public Offering of Preferred Stock
Preferred stock, dividend rate (as a percent)									9.42%
Preferred Stock, variable interest rate	4.831
Investment, Variable Interest Rate, Type [Extensible Enumeration]	us-gaap:SecuredOvernightFinancingRateSofrMember
6% Series B Preferred Stock | Public offering
Public Offering of Preferred Stock
Issuance of stock (in shares) | shares						5,000,000
Depositary shares equivalent preferred stock interest per share						0.025
Preferred stock, dividend rate (as a percent)						6.00%
Preferred stock liquidation preference (in dollars per share) | $ / shares						$ 1,000.00
Depositary share, preferred stock liquidation preference (in dollars per share) | $ / shares						$ 25.00
Aggregate gross offering proceeds for the shares issued						$ 125,000,000.0
Net proceeds						120,800,000
Underwriting discounts						$ 4,200,000
6% Series C Preferred Stock
Public Offering of Preferred Stock
Preferred stock, dividend rate (as a percent)										6.00%	6.00%
Preferred stock liquidation preference (in dollars per share) | $ / shares										$ 1,000	$ 1,000
6% Series C Preferred Stock | Public offering
Public Offering of Preferred Stock
Issuance of stock (in shares) | shares					6,000,000
Depositary shares equivalent preferred stock interest per share					0.025
Preferred stock, dividend rate (as a percent)					6.00%
Preferred stock liquidation preference (in dollars per share) | $ / shares					$ 1,000.00
Depositary share, preferred stock liquidation preference (in dollars per share) | $ / shares					$ 25.00
Aggregate gross offering proceeds for the shares issued					$ 150,000,000.0
Net proceeds					144,900,000
Underwriting discounts					$ 5,100,000
8.25% Series D Preferred Stock
Public Offering of Preferred Stock
Preferred stock, dividend rate (as a percent)										8.25%	8.25%
Preferred stock liquidation preference (in dollars per share) | $ / shares										$ 1,000	$ 1,000
8.25% Series D Preferred Stock | Public offering
Public Offering of Preferred Stock
Issuance of stock (in shares) | shares				5,200,000
Depositary shares equivalent preferred stock interest per share				0.025
Preferred stock, dividend rate (as a percent)				8.25%
Preferred stock liquidation preference (in dollars per share) | $ / shares				$ 1,000.00
Depositary share, preferred stock liquidation preference (in dollars per share) | $ / shares				$ 25.00
Aggregate gross offering proceeds for the shares issued				$ 130,000,000.0
Net proceeds				125,400,000
Underwriting discounts				$ 4,600,000
Series D Preferred Stock | Public offering
Public Offering of Preferred Stock
Issuance of stock (in shares) | shares			500,000
Net proceeds			$ 12,100,000
Underwriting discounts			$ 400,000