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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
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