Preferred Stock - Change in Preferred Stock Carrying Value (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Increase (Decrease) in Temporary Equity [Roll Forward]
Temporary Equity, Stock Issued During Period, Value, New Issues	$ 0	$ 0	$ 61,793
Series D Preferred Stock
Increase (Decrease) in Temporary Equity [Roll Forward]
Balance at beginning of year	64,701	53,807	0
Temporary Equity, Fair Value Of Warrants Issued	0	0	(14,839)
Temporary Equity, Recognition Of Bifurcated Embedded Derivative	0	0	(282)
Temporary Equity, Dividends, Adjustment	10,085	8,961	6,222
Temporary Equity, Other Changes	3,013	1,933	913
Balance at end of year	$ 77,799	64,701	53,807
Series B Preferred Stock
Increase (Decrease) in Temporary Equity [Roll Forward]
Balance at beginning of year		$ 0	105,086
Temporary Equity, Dividends, Adjustment			14,008
Temporary Equity, Other Changes			335
Temporary Equity, Redemption			119,429
Balance at end of year			$ 0