Stockholders' Equity - Dividends Declared (Details) - USD ($) $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Class of Stock [Line Items]
Dividends declared	$ 438.4	$ 504.6	$ 456.1
Series A
Class of Stock [Line Items]
Dividends declared		$ 19.1	$ 28.0
Dividends declared, per share amount (in USD per share)		$ 47.73	$ 70.00
Series C
Class of Stock [Line Items]
Dividends declared			$ 18.0
Dividends declared, per share amount (in USD per share)			$ 30.00
Series D
Class of Stock [Line Items]
Dividends declared	$ 44.6	$ 44.6	$ 44.6
Dividends declared, per share amount (in USD per share)	$ 59.52	$ 59.52	$ 59.52
Series E
Class of Stock [Line Items]
Dividends declared		$ 37.0	$ 27.8
Dividends declared, per share amount (in USD per share)		$ 6,161.42	$ 4,625
Series F
Class of Stock [Line Items]
Dividends declared	$ 24.3	$ 25.0	$ 25.0
Dividends declared, per share amount (in USD per share)	$ 5,000	$ 5,000	$ 5,000
Series G, Series H, And Series I Preferred Stock
Class of Stock [Line Items]
Dividends declared	$ 3.0
Series G
Class of Stock [Line Items]
Dividends declared	$ 132.2	$ 134.4	$ 134.4
Dividends declared, per share amount (in USD per share)	$ 5,375	$ 5,375	$ 5,375
Series H
Class of Stock [Line Items]
Dividends declared	$ 90.4	$ 100.0	$ 97.2
Dividends declared, per share amount (in USD per share)	$ 4,000	$ 4,000	$ 3,888.89
Series I
Class of Stock [Line Items]
Dividends declared	$ 82.8	$ 90.0	$ 63.2
Dividends declared, per share amount (in USD per share)	$ 4,000	$ 4,000	$ 2,811.11
Series J
Class of Stock [Line Items]
Dividends declared	$ 26.7	$ 26.7	$ 17.9
Dividends declared, per share amount (in USD per share)	$ 44.52	$ 44.52	$ 29.8
Series K
Class of Stock [Line Items]
Dividends declared	$ 37.4	$ 27.8
Dividends declared, per share amount (in USD per share)	$ 5,000	$ 3,708.33