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Private Placements (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 9 Months Ended
May 12, 2020
Mar. 31, 2020
Mar. 06, 2020
Aug. 09, 2019
Mar. 28, 2019
Aug. 06, 2018
Mar. 31, 2020
Sep. 30, 2020
Sep. 30, 2019
Dec. 31, 2019
Class of Stock [Line Items]                    
Number of shares issued (in shares)           12,062,000        
Common stock, par value (in dollars per share)           $ 0.001   $ 0.001   $ 0.001
Number of additional shares from warrants (in shares)         2,500,000 4,221,700        
Initial exercise price of warrants (in dollars per share)         $ 7.00 $ 2.52        
Proceeds from the exercise of warrants         $ 10,600   $ 1,900 $ 1,861 $ 10,639  
Exercise of warrants (shares)             338,454      
Preferred stock issued during the period               25,000 10,000  
Payments repurchase of preferred stock               $ 2,354 $ 0  
Series E Preferred Stock                    
Class of Stock [Line Items]                    
Issuance of shares (shares)     25,000 10,000            
Preferred stock issued during the period     $ 25,000 $ 10,000            
Dividend rate       9.00%            
Stock repurchased (in shares) 2,330                  
Payments repurchase of preferred stock $ 2,400                  
Series E Preferred Stock | South Ocean Funding LLC                    
Class of Stock [Line Items]                    
Issuance of shares (shares)   2,330