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Equity (Details)
 12 Months Ended
Mar. 01, 2017
USD ($)
$ / shares
shares
Dec. 31, 2019
USD ($)
hotel
$ / shares
shares
Dec. 31, 2018
USD ($)
$ / shares
shares
Dec. 31, 2017
USD ($)
shares
Dec. 11, 2017
USD ($)
Dec. 05, 2017
$ / shares
Oct. 27, 2014
USD ($)
Class of Stock [Line Items]              
Proceeds from issuance of common stock   $ 0 $ 0 $ 66,442,000      
Net proceeds from issuance of stock $ 66,400,000            
Common stock   21,302,000 20,695,000 20,623,000      
Series D cumulative preferred stock   3,300,000 376,000 0      
Total dividends declared   $ 24,602,000 $ 21,071,000 20,623,000      
Common stock, par value (in dollars per share) | $ / shares   $ 0.01 $ 0.01        
Ownership percentage of operating partnership   25.00%          
Number of hotel properties with JV interests | hotel   2          
Noncontrolling interest in consolidated entities   $ (6,013,000) $ (5,391,000)        
Shares sold under an at-the-market equity distribution program (in shares) | shares   0          
(Income) loss attributable to noncontrolling interest in consolidated entities   $ (2,032,000) $ (2,016,000) $ (3,264,000)      
Stock Repurchase Program              
Class of Stock [Line Items]              
Authorized amount   $ 50,000,000     $ 50,000,000   $ 100,000,000
Common stock, par value (in dollars per share) | $ / shares           $ 0.01  
Purchase of common stock (in shares) | shares   0 0 0      
Common Stock              
Class of Stock [Line Items]              
Issuance of common stock (in shares) | shares 5,800,000            
Issuance of stock (in dollars per share) | $ / shares $ 12.15            
Proceeds from issuance of common stock $ 69,900,000            
Common stock   $ 21,302,000 $ 20,695,000 $ 20,623,000      
Series D Preferred Stock              
Class of Stock [Line Items]              
Series D cumulative preferred stock   $ 3,300,000 $ 376,000        
Preferred stock dividend rate   8.25%          
Preferred stock issued (in shares) | shares   1,600,000 1,600,000        
Redemption price (in dollars per share) | $ / shares   $ 25          
Preferred stock conversion rate   5.12295          
Annual preferred stock dividend (in dollars per share) | $ / shares   $ 2.0625