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5.50% Series B Cumulative Convertible Preferred Stock (Details)
 12 Months Ended
Dec. 04, 2019
USD ($)
Nov. 05, 2019
Nov. 04, 2019
Apr. 05, 2017
USD ($)
shares
Mar. 07, 2017
USD ($)
$ / shares
shares
Mar. 01, 2017
USD ($)
Dec. 31, 2019
USD ($)
day
$ / shares
shares
Dec. 31, 2018
USD ($)
shares
Dec. 31, 2017
USD ($)
shares
Dec. 31, 2016
shares
Class of Stock [Line Items]                    
Net proceeds from issuance of stock           $ 66,400,000        
Preferred stock, shares outstanding (in shares) | shares             4,538,000 4,833,000 4,790,000 4,943,000
Preferred dividends             $ 10,142,000 $ 7,205,000 $ 6,795,000  
Equity Distribution Agreements With Sales Agents                    
Class of Stock [Line Items]                    
Sales commissions, percent of gross sales price 2.00%                  
Maximum | Equity Distribution Agreements With Sales Agents                    
Class of Stock [Line Items]                    
Authorized amount $ 40,000,000.0                  
Series B Convertible Preferred Stock                    
Class of Stock [Line Items]                    
Preferred stock dividend rate         5.50%   5.50% 5.50%    
Average redemption price (in dollars per share) | $ / shares             $ 18.70      
Preferred stock conversion rate   1.3372 1.3228              
Annual preferred stock dividend (in dollars per share) | $ / shares             $ 1.375      
Consecutive trading days | day             45      
Threshold trading days prior to notice of conversion             3 days      
Liquidation preference (in dollars per share) | $ / shares         $ 25   $ 25.00      
Issuance of stock (in shares) | shares         2,000,000          
Redemption price (in dollars per share) | $ / shares             $ 25.00      
Percentage of liquidation preference             103.00%      
Issuance of preferred stock (in dollars per share) | $ / shares         $ 20.19          
Proceeds from issuance of preferred stock         $ 39,900,000          
Net proceeds from issuance of stock         $ 38,200,000          
Preferred stock, shares outstanding (in shares) | shares             5,008,421 4,965,850    
Preferred dividends             $ 6,842,000 $ 6,829,000    
Series B Convertible Preferred Stock | Preferred Stock                    
Class of Stock [Line Items]                    
Issuance of stock (in shares) | shares                 2,075,000  
Issuance of common stock (in shares) | shares             42,000      
Proceeds from issuance of preferred stock             $ 797,000      
Gross proceeds received             809,000      
Commissions and other expenses             $ 12,000      
Series B Convertible Preferred Stock | Over-Allotment Option                    
Class of Stock [Line Items]                    
Issuance of stock (in shares) | shares       100,000            
Net proceeds from issuance of stock       $ 1,900,000            
Series B Convertible Preferred Stock | Minimum                    
Class of Stock [Line Items]                    
Percent of conversion price             110.00%