Stockholders' Equity - Dividends Declared (Details) - USD ($) $ / shares in Units, $ in Millions	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Class of Stock [Line Items]
Dividends declared	$ 103.1	$ 105.4
Series D
Class of Stock [Line Items]
Dividends declared	$ 11.2	$ 11.2
Dividends declared, per share amount (in USD per share)	$ 14.88	$ 14.88
Series F
Class of Stock [Line Items]
Dividends declared	$ 0.0	$ 0.0
Dividends declared, per share amount (in USD per share)	$ 0	$ 0
Series G
Class of Stock [Line Items]
Dividends declared	$ 33.0	$ 33.2
Dividends declared, per share amount (in USD per share)	$ 1,343.75	$ 1,343.75
Series H
Class of Stock [Line Items]
Dividends declared	$ 22.3	$ 23.7
Dividends declared, per share amount (in USD per share)	$ 1,000	$ 1,000
Series I
Class of Stock [Line Items]
Dividends declared	$ 20.6	$ 21.3
Dividends declared, per share amount (in USD per share)	$ 1,000	$ 1,000
Series J
Class of Stock [Line Items]
Dividends declared	$ 6.7	$ 6.7
Dividends declared, per share amount (in USD per share)	$ 11.13	$ 11.13
Series K
Class of Stock [Line Items]
Dividends declared	$ 9.3	$ 9.3
Dividends declared, per share amount (in USD per share)	$ 1,250	$ 1,250
Series G, Series H, And Series I Preferred Stock
Class of Stock [Line Items]
Dividends declared		$ 3.0