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Consolidated Balance Sheets (Parenthetical) - USD ($)
 12 Months Ended
Dec. 31, 2015
Dec. 31, 2014
Common stock, par value $ 0.10 $ 0.10
Common stock, shares authorized 75,000,000 75,000,000
Common stock, shares issued 27,131,724 26,968,212
Treasury stock, common shares 3,735,503 4,320,462
Series E Preferred Stock [Member]    
Cumulative redeemable preferred stock, dividend rate 14.00% 14.00%
Redeemable preferred stock, par value $ 0 $ 0
Redeemable preferred stock, shares issued 210,000
Redeemable preferred stock, shares outstanding 210,000
Redeemable preferred stock, liquidation preference $ 212,287,000  
Series F Preferred Stock [Member]    
Redeemable preferred stock, par value $ 0 $ 0
Redeemable preferred stock, shares issued 1
Redeemable preferred stock, shares outstanding 1
Redeemable preferred stock, liquidation preference $ 100  
Series B Preferred Stock [Member]    
Convertible preferred stock dividend rate 12.00% 12.00%
Preferred stock, shares issued 20,000 20,000
Preferred stock, shares outstanding 20,000 20,000
Series B cumulative, convertible preferred stock, par value $ 100 $ 100
Series D Preferred Stock [Member]    
Convertible preferred stock dividend rate 6.00% 6.00%
Preferred stock, shares issued 1,000,000 1,000,000
Preferred stock, shares outstanding 1,000,000 1,000,000
Series D cumulative, convertible Class C preferred stock, par value $ 0 $ 0