Annual report pursuant to Section 13 and 15(d)

Stockholders' Equity Preferred Share Repurchase Program (Details)

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Stockholders' Equity Preferred Share Repurchase Program (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Class of Stock [Line Items]      
Gain on repurchase and retirement of preferred stock $ 2,973 $ 20,149 $ 0
Preferred Stock      
Class of Stock [Line Items]      
Number of shares authorized to be repurchased under stock repurchase program (in shares) 5,000,000    
Series A Preferred Stock [Member]      
Class of Stock [Line Items]      
Number of shares repurchased and retired to date (in shares) 664,732    
Preferred stock dividend rate 8.125%    
Cost of shares repurchased and retired to date $ 12,500    
Number of shares of common stock repurchased during period (in shares) 236,183 428,549 0
Repurchase of stock $ 4,700 $ 7,800 $ 0
Series B Preferred Stock [Member]      
Class of Stock [Line Items]      
Number of shares repurchased and retired to date (in shares) 1,060,740    
Preferred stock dividend rate 7.625%    
Cost of shares repurchased and retired to date $ 19,100    
Number of shares of common stock repurchased during period (in shares) 273,894 786,846 0
Repurchase of stock $ 5,300 $ 13,800 $ 0
Series C Preferred Stock [Member]      
Class of Stock [Line Items]      
Number of shares repurchased and retired to date (in shares) 1,968,102    
Preferred stock dividend rate 7.25%    
Cost of shares repurchased and retired to date $ 34,600    
Number of shares of common stock repurchased during period (in shares) 225,547 1,742,555 0
Repurchase of stock $ 4,700 $ 29,800 $ 0