Shareholders' Equity - Schedule of Stockholders Equity (Details)	3 Months Ended
	Mar. 31, 2024 USD ($) $ / shares shares
Series D Preferred Stock
Class of Stock [Line Items]
Preferred stock, dividend rate (as a percent)	5.00%
Preferred stock, amount outstanding | $	$ 525,000,000
Preferred stock, shares authorized (in shares) | shares	21,000
Preferred stock, shares outstanding (in shares) | shares	21,000
Preferred stock, par value (in usd per share)	$ 1
Preferred stock, liquidation preference, value | $	$ 25,000
Ownership interest per depositary share ratio	0.04
Preferred stock, liquidation preference (in usd per share)	$ 1,000
Dividend payable per share (in usd per share)	$ 12.50
Series E Preferred Stock
Class of Stock [Line Items]
Preferred stock, dividend rate (as a percent)	6.125%
Preferred stock, amount outstanding | $	$ 500,000,000
Preferred stock, shares authorized (in shares) | shares	500,000
Preferred stock, shares outstanding (in shares) | shares	500,000
Preferred stock, par value (in usd per share)	$ 1
Preferred stock, liquidation preference, value | $	$ 1,000
Ownership interest per depositary share ratio	0.025
Preferred stock, liquidation preference (in usd per share)	$ 25
Dividend payable per share (in usd per share)	$ 0.382813
Series F Preferred Stock
Class of Stock [Line Items]
Preferred stock, dividend rate (as a percent)	5.65%
Preferred stock, amount outstanding | $	$ 425,000,000
Preferred stock, shares authorized (in shares) | shares	425,000
Preferred stock, shares outstanding (in shares) | shares	425,000
Preferred stock, par value (in usd per share)	$ 1
Preferred stock, liquidation preference, value | $	$ 1,000
Ownership interest per depositary share ratio	0.025
Preferred stock, liquidation preference (in usd per share)	$ 25
Dividend payable per share (in usd per share)	$ 0.353125
Series G Preferred Stock
Class of Stock [Line Items]
Preferred stock, dividend rate (as a percent)	5.625%
Preferred stock, amount outstanding | $	$ 450,000,000
Preferred stock, shares authorized (in shares) | shares	450,000
Preferred stock, shares outstanding (in shares) | shares	450,000
Preferred stock, par value (in usd per share)	$ 1
Preferred stock, liquidation preference, value | $	$ 1,000
Ownership interest per depositary share ratio	0.025
Preferred stock, liquidation preference (in usd per share)	$ 25
Dividend payable per share (in usd per share)	$ 0.351563
Series H Preferred Stock
Class of Stock [Line Items]
Preferred stock, dividend rate (as a percent)	6.20%
Preferred stock, amount outstanding | $	$ 600,000,000
Preferred stock, shares authorized (in shares) | shares	600,000
Preferred stock, shares outstanding (in shares) | shares	600,000
Preferred stock, par value (in usd per share)	$ 1
Preferred stock, liquidation preference, value | $	$ 1,000
Ownership interest per depositary share ratio	0.025
Preferred stock, liquidation preference (in usd per share)	$ 25
Dividend payable per share (in usd per share)	$ 0.387500