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Consolidated Balance Sheets (Parenthetical) - USD ($) | 12 Months Ended
--- | ---
Dec. 31, 2020 | Dec. 31, 2019
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 | 31,283,210
Treasury stock, common shares | 2,074,565 | 2,009,566
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 | $ 277,982,000 | $ 242,800,000
Series F Preferred Stock [Member] |  |
Redeemable preferred stock, par value | $ 0 | $ 0
Redeemable preferred stock, shares issued | 1 | 1
Redeemable preferred stock, shares outstanding | 1 | 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 | $ 3,265,000 | $ 3,025,000
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 | $ 1,312,000 | $ 1,252,000
Series D cumulative, convertible Class C preferred stock, par value |  |

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