Commitments and Contingencies - Preferred Dividend Arrearages (Details) - USD ($) $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Other Commitments [Line Items]
Preferred shares, authorized (in shares)	25,000,000.0
Cumulative amount of unpaid dividends on preferred stock	$ 41.1
Series B Preferred Stock
Other Commitments [Line Items]
Preferred shares, authorized (in shares)	25,000,000	25,000,000
Preferred stock annual dividend rate	$ 1.8436
Unpaid dividends per share on preferred stock	$ 2.77
Series C Preferred Stock
Other Commitments [Line Items]
Preferred shares, authorized (in shares)	25,000,000	25,000,000
Preferred stock annual dividend rate	$ 1.80
Unpaid dividends per share on preferred stock	$ 2.70
Series D Preferred Stock
Other Commitments [Line Items]
Preferred shares, authorized (in shares)	25,000,000	25,000,000
Preferred stock annual dividend rate	$ 1.7188
Unpaid dividends per share on preferred stock	$ 2.58