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Consolidated Statements of Shareholders' Equity (Unaudited) (Parenthetical) - $ / shares
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Cash dividends declared        
Common stock, dividend per share (in dollars per share) $ 0.60 $ 0.52 $ 1.80 $ 1.56
Series D Preferred Stock        
Cash dividends declared        
Preferred stock, dividend per share (in dollars per share) $ 9,072.22 $ 9,072.22 $ 27,019.44 $ 27,019.44