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Consolidated Balance Sheets (Parenthetical) - $ / shares
Dec. 31, 2017
Dec. 31, 2016
Common stock, par value (in dollars per share) $ 0.001 $ 0.001
Common stock, shares authorized (in shares) 200,000,000 200,000,000
Common stock, shares issued (in shares) 68,236,000 72,042,000
Common stock, shares outstanding (in shares) 68,236,000 72,042,000
Series D, E, F, G and I Preferred Stock    
Liquidation preference (in dollars per share) $ 25 $ 25.00
Series J convertible perpetual preferred stock    
Liquidation preference (in dollars per share) $ 50 $ 50.00