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Stockholders' Equity and Stock Repurchase Program (Details) - USD ($)
 12 Months Ended
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Dec. 31, 2013
Oct. 27, 2014
Feb. 21, 2013
Increase (Decrease) in Stockholders' Equity [Roll Forward]                
Preferred stock, shares issued (in shares) 883,000 883,000            
Cumulative annual dividend rate (as a percent) 5.00% 5.00%            
Preferred stock, par value (in dollars per share) $ 0.001 $ 0.001            
Preferred stock, shares outstanding (in shares) 883,000 883,000            
Preferred stock, value $ 3,532,000 $ 3,532,000            
Liquidation preference over common stock (in dollars per share) $ 4 $ 4            
Stock repurchase program, authorized amount             $ 5,000,000 $ 6,000,000
Shares repurchased (in shares) 0 0 0 908,000 0 285,000    
Average price of shares repurchased (in dollars per share)       $ 2.52   $ 2.51    
Total purchase price       $ 2,300,000   $ 716,000    
Stock repurchase program remaining authorized repurchase amount $ 2,700,000         $ 5,300,000    
Preferred stock dividends payable $ 2,901,000 $ 2,901,000            
Series A Preferred Stock                
Increase (Decrease) in Stockholders' Equity [Roll Forward]                
Preferred stock dividends payable       $ 2,900,000