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Consolidated Balance Sheets (Parenthetical) - USD ($)
 12 Months Ended
Dec. 31, 2018
Dec. 31, 2017
Common stock, par value $ 0.10 $ 0.10
Common stock, shares authorized 75,000,000 75,000,000
Common stock, shares issued 31,283,210 31,280,685
Treasury stock, common shares 2,438,305 2,662,027
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 139,768  
Redeemable preferred stock, liquidation preference $ 212,071,000 $ 185,231,000
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
Preferred stock, liquidation preference, value $ 2,785,000 $ 2,545,000
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
Preferred stock, liquidation preference, value $ 1,192,000 $ 1,132,000
Series D cumulative, convertible Class C preferred stock, par value