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5.50% Series B Cumulative Convertible Preferred Stock (Details)
 3 Months Ended 6 Months Ended
Dec. 04, 2019
USD ($)
Jun. 30, 2020
USD ($)
$ / shares
shares
Jun. 30, 2019
USD ($)
shares
Jun. 30, 2020
USD ($)
day
$ / shares
shares
Jun. 30, 2019
USD ($)
shares
Mar. 31, 2020
shares
Dec. 31, 2019
shares
Mar. 31, 2019
shares
Dec. 31, 2018
shares
Class of Stock [Line Items]                  
Series B Convertible Preferred Stock   $ 2,555,000 $ 2,532,000 $ 5,110,000 $ 5,064,000        
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   $ 18.70   $ 18.70          
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   $ 25.00          
Redemption percent of liquidation preference   103.00%   103.00%          
Liquidation preference per share (in dollars per share) | $ / shares   $ 25.00   $ 25.00          
Series B preferred stock, shares outstanding (in shares) | shares   5,000,000.0   5,000,000.0     5,000,000.0    
Series B Convertible Preferred Stock   $ 1,730,000 $ 1,707,000 $ 3,460,000 $ 3,414,000        
Series B Preferred Stock | Preferred Stock                  
Class of Stock [Line Items]                  
Series B Convertible Preferred Stock shares issued (in shares) | shares   0   23,000          
Gross proceeds received   $ 0   $ 439,000          
Commissions and other expenses   0   7,000          
Net proceeds   $ 0   $ 432,000          
Series B preferred stock, shares outstanding (in shares) | shares   5,031,000 4,966,000 5,031,000 4,966,000 5,031,000 5,008,000 4,966,000 4,966,000
Series B Preferred Stock | Minimum                  
Class of Stock [Line Items]                  
Percent of conversion price   110.00%   110.00%