Annual report pursuant to Section 13 and 15(d)

Stockholders' Equity Schedule of Dividends Declared (Details)

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Stockholders' Equity Schedule of Dividends Declared (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Feb. 04, 2021
Class of Stock [Line Items]        
Preferred dividends declared $ 53,607 $ 58,458 $ 75,802  
Preferred stock liquidation preference per share (in usd per share) $ 25.00     $ 25.00
Series A Preferred Stock [Member]        
Class of Stock [Line Items]        
Preferred dividends declared $ 11,462 $ 11,680 $ 11,680  
Dividends declared per preferred share (in usd per share) $ 2.03 $ 2.03 $ 2.03  
Series B Preferred Stock [Member]        
Class of Stock [Line Items]        
Preferred dividends declared $ 21,547 $ 21,921 $ 21,922  
Dividends declared per preferred share (in usd per share) $ 1.91 $ 1.91 $ 1.91  
Series C Preferred Stock [Member]        
Class of Stock [Line Items]        
Preferred dividends declared $ 20,598 $ 21,388 $ 21,388  
Dividends declared per preferred share (in usd per share) $ 1.81 $ 1.81 $ 1.81  
Series D Preferred Stock [Member]        
Class of Stock [Line Items]        
Preferred dividends declared $ 0 $ 969 $ 5,812  
Dividends declared per preferred share (in usd per share) $ 0 $ 0.32 $ 1.94  
Series E Preferred Stock [Member]        
Class of Stock [Line Items]        
Preferred dividends declared $ 0 $ 2,500 $ 15,000  
Dividends declared per preferred share (in usd per share) $ 0 $ 0.31 $ 1.88  
Common Stock [Member]        
Class of Stock [Line Items]        
Common dividends declared $ 228,845 $ 205,623 $ 136,842  
Dividends declared per common share (in usd per share) $ 2.64 $ 2.72 $ 2.00