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, 2023
Dec. 31, 2022
Dec. 31, 2021
Class of Stock [Line Items]      
Preferred dividends declared $ 48,607 $ 53,607 $ 58,458
Series A Preferred Stock [Member]      
Class of Stock [Line Items]      
Preferred dividends declared $ 10,460 $ 11,462 $ 11,680
Dividends declared per preferred share (in usd per share) $ 2.04 $ 2.04 $ 2.04
Series B Preferred Stock [Member]      
Class of Stock [Line Items]      
Preferred dividends declared $ 20,087 $ 21,547 $ 21,921
Dividends declared per preferred share (in usd per share) $ 1.92 $ 1.92 $ 1.92
Series C Preferred Stock [Member]      
Class of Stock [Line Items]      
Preferred dividends declared $ 18,060 $ 20,598 $ 21,388
Dividends declared per preferred share (in usd per share) $ 1.80 $ 1.80 $ 1.80
Common Stock [Member]      
Class of Stock [Line Items]      
Common dividends declared $ 192,220 $ 228,845 $ 205,623
Dividends declared per common share (in usd per share) $ 1.95 $ 2.64 $ 2.72