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CONDENSED CONSOLIDATED BALANCE SHEETS (Parenthetical) - USD ($)
$ in Thousands
 6 Months Ended
Jun. 30, 2020
Dec. 31, 2019
Allowance for doubtful notes receivable $ 187 $ 153
Common stock, par value (in dollars per share) $ 0.01 $ 0.01
Common stock, shares authorized (in shares) 250,000,000 200,000,000
Common stock, shares issued (in shares) 33,528,000 32,885,217
Common stock, shares outstanding (in shares) 33,528,000 32,885,217
Preferred stock par value (in dollars per share) $ 0.01 $ 0.01
Preferred stock, shares authorized (in shares) 80,000,000 50,000,000
Series B Preferred Stock    
Series B preferred stock, par value (in dollars per share) $ 0.01 $ 0.01
Series B preferred stock, shares issued (in shares) 5,031,473 5,008,421
Series B preferred stock, shares outstanding (in shares) 5,000,000.0 5,000,000.0
Preferred stock dividend rate 5.50%  
Series D Preferred Stock    
Preferred stock dividend rate 8.25%  
Preferred stock, shares issued (in shares) 1,600,000 1,600,000
Preferred stock, shares outstanding (in shares) 1,600,000 1,600,000