Stockholders' Equity - Dividends Declared (Details) - USD ($) $ / shares in Units, $ in Millions	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Class of Stock [Line Items]
Dividends declared	$ 103.0	$ 123.4	$ 323.9	$ 373.9
Series A
Class of Stock [Line Items]
Dividends declared		$ 7.7		$ 18.9
Dividends declared, per share amount (in USD per share)		$ 19.43		$ 47.73
Series D
Class of Stock [Line Items]
Dividends declared	$ 11.2	$ 11.2	$ 33.5	$ 33.5
Dividends declared, per share amount (in USD per share)	$ 14.88	$ 14.88	$ 44.64	$ 44.64
Series E
Class of Stock [Line Items]
Dividends declared		$ 7.4		$ 27.2
Dividends declared, per share amount (in USD per share)		$ 1,251.05		$ 4,544.37
Series F
Class of Stock [Line Items]
Dividends declared	$ 0.0	$ 0.0	$ 12.2	$ 12.5
Dividends declared, per share amount (in USD per share)	$ 0	$ 0	$ 2,500	$ 2,500
Series G
Class of Stock [Line Items]
Dividends declared	$ 33.0	$ 33.6	$ 99.3	$ 100.8
Dividends declared, per share amount (in USD per share)	$ 1,343.75	$ 1,343.75	$ 4,031.25	$ 4,031.25
Series H
Class of Stock [Line Items]
Dividends declared	$ 22.2	$ 25.0	$ 68.2	$ 75.0
Dividends declared, per share amount (in USD per share)	$ 1,000	$ 1,000	$ 3,000	$ 3,000
Series I
Class of Stock [Line Items]
Dividends declared	$ 20.6	$ 22.5	$ 62.5	$ 67.5
Dividends declared, per share amount (in USD per share)	$ 1,000	$ 1,000	$ 3,000	$ 3,000
Series J
Class of Stock [Line Items]
Dividends declared	$ 6.7	$ 6.7	$ 20.1	$ 20.1
Dividends declared, per share amount (in USD per share)	$ 11.13	$ 11.13	$ 33.39	$ 33.39
Series K
Class of Stock [Line Items]
Dividends declared	$ 9.3	$ 9.3	$ 28.1	$ 18.4
Dividends declared, per share amount (in USD per share)	$ 1,250	$ 1,250	$ 3,750	$ 2,458.33
Series F, Series G, Series H, nd Series I Preferred Stock
Class of Stock [Line Items]
Dividends declared			$ 3.0