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Consolidated Balance Sheets (Parenthetical) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Accounts receivable, net of allowance of $153 and $101, respectively $ 153 $ 101
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) 32,885,217 32,511,660
Common stock, shares outstanding (in shares) 32,885,217 32,511,660
Convertible preferred stock, shares outstanding (in shares) 4,538,000 4,833,000
Series B Convertible Preferred Stock    
Convertible preferred stock, par value (in dollars per share) $ 0.01 $ 0.01
Convertible preferred stock, shares issued (in shares) 5,008,421 4,965,850
Convertible preferred stock, shares outstanding (in shares) 5,008,421 4,965,850
Preferred stock dividend rate 5.50% 5.50%
Series D Preferred Stock    
Preferred stock dividend rate 8.25%  
Preferred stock, par value (in dollars per share) $ 0.01 $ 0.01
Preferred stock authorized (in shares) 50,000,000 50,000,000
Preferred stock issued (in shares) 1,600,000 1,600,000
Preferred stock outstanding (in shares) 1,600,000 1,600,000