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Consolidated Balance Sheets (Parenthetical) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Allowance for accounts receivable $ 96 $ 68
Common stock, par value (in dollars per share) $ 0.01 $ 0.01
Common stock, shares authorized (in shares) 200,000,000 200,000,000
Common stock, shares issued (in shares) 26,021,552 28,471,775
Common stock, shares outstanding (in shares) 26,021,552 28,471,775
Convertible preferred stock, shares outstanding (in shares) 4,943,000 4,375,000
5.50% Series B cumulative convertible preferred stock, $0.01 par value, 2,600,000 shares issued and outstanding at December 31, 2015    
Convertible preferred stock (in dollars per share) $ 0.01 $ 0.01
Convertible preferred stock, shares issued (in shares) 2,890,850 2,600,000
Convertible preferred stock, shares outstanding (in shares) 2,890,850 2,600,000
Preferred stock dividend rate 5.50% 5.50%