Consolidated Statements of Changes in Shareholders' Equity (Parenthetical) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Cash dividends declared on common stock (in dollars per share)	$ 1.52	$ 1.36	$ 1.32
Series D Preferred Stock
Dividends declared on preferred stock during the year but paid after year-end (in dollars per share)	1.92	1.58	1.58
Series E Preferred Stock
Dividends declared on preferred stock during the year but paid after year-end (in dollars per share)	$ 1.47	$ 1.47	$ 1.47