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5.50% Series B Cumulative Convertible Preferred Stock (Details)
 3 Months Ended
Dec. 04, 2019
USD ($)
Mar. 31, 2020
USD ($)
day
$ / shares
shares
Mar. 31, 2019
USD ($)
Dec. 31, 2019
shares
Class of Stock [Line Items]        
Series B Convertible Preferred Stock   $ 2,555,000 $ 2,532,000  
Equity Distribution Agreements With Sales Agents        
Class of Stock [Line Items]        
Percentage of the gross sales price 2.00%      
Maximum | Equity Distribution Agreements With Sales Agents        
Class of Stock [Line Items]        
Aggregate offering price (up to) $ 40,000,000.0      
Series B Preferred Stock        
Class of Stock [Line Items]        
Preferred stock dividend rate   5.50%    
Initial conversion price (in dollars per share) | $ / shares   $ 18.7    
Preferred stock conversion rate   1.3372    
Annual preferred stock dividend (in dollars per share) | $ / shares   $ 1.375    
Consecutive trading days | day   45    
Days ending prior to notice of conversion   3 days    
Redemption price (in dollars per share) | $ / shares   $ 25.00    
Redemption percent of liquidation preference   103.00%    
Liquidation preference per share (in dollars per share) | $ / shares   $ 25.00    
Series B preferred stock, shares outstanding (in shares) | shares   5,000,000   5,008,421
Series B Convertible Preferred Stock   $ 1,730,000 $ 1,707,000  
Series B Preferred Stock | Preferred Stock        
Class of Stock [Line Items]        
Series B Convertible Preferred Stock shares issued (in shares) | shares   23,000    
Gross proceeds received   $ 439,000    
Commissions and other expenses   7,000    
Net proceeds   $ 432,000    
Series B Preferred Stock | Minimum        
Class of Stock [Line Items]        
Percent of conversion price   110.00%