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Shares Issued through the At-the-Market Equity Offering Program (Details) - At-the-Market Equity Offering Program - USD ($) | 3 Months Ended | 6 Months Ended
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Jun. 30, 2019 | Jun. 30, 2020 | Jun. 30, 2019
Shares Issued through the At-the-Market Equity Offering Program |  |  |
Number of shares sold (in shares) | 143,120 | 0 | 180,120
Proceeds from sale of common stock, net of commissions | $ 4,308,000 |  | $ 5,392,000
Payment of commissions on sale of shares | 44,000 |  | 54,000
Payment of offering costs on sale of shares | $ 33,000 |  | $ 78,000

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