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Consolidated Balance Sheets (Parenthetical) - $ / shares
Dec. 31, 2019
Dec. 31, 2018
Class of Stock [Line Items]    
Common stock, par value (in USD per share) $ 0.001 $ 0.001
Common stock, authorized (in shares) 200,000,000 200,000,000
Common stock, shares issued (in shares) 104,251,019 103,005,748
Common stock, shares outstanding (in shares) 104,251,019 103,005,748
Preferred stock, par value (in USD per share) $ 0.01 $ 0.01
Preferred stock, shares authorized (in shares) 20,000,000 20,000,000
Treasury stock, par value (USD per share) $ 0.001 $ 0.001
Treasury stock, shares repurchased (in shares) 0 458,088
Series B Preferred Stock    
Class of Stock [Line Items]    
Preferred stock, issued (in shares) 0 0
Preferred stock, shares outstanding (in shares) 0 0
Series C Preferred Stock    
Class of Stock [Line Items]    
Preferred stock, issued (in shares) 2,300,000 2,300,000
Preferred stock, shares outstanding (in shares) 2,300,000 2,300,000
Series D Preferred Stock    
Class of Stock [Line Items]    
Preferred stock, issued (in shares) 3,200,000 3,200,000
Preferred stock, shares outstanding (in shares) 3,200,000 3,200,000