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5.50% Series B Cumulative Convertible Preferred Stock (Details)
$ / shares in Units, shares in Thousands
 3 Months Ended 9 Months Ended
Dec. 04, 2019
USD ($)
Sep. 30, 2020
USD ($)
$ / shares
shares
Sep. 30, 2019
USD ($)
Sep. 30, 2020
USD ($)
day
$ / shares
shares
Sep. 30, 2019
USD ($)
Class of Stock [Line Items]          
Series B Convertible Preferred Stock   $ 2,554,000 $ 2,533,000 $ 7,664,000 $ 7,597,000
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% 5.50% 5.50% 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 (in 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 Convertible Preferred Stock   $ 1,729,000 $ 1,708,000 $ 5,189,000 $ 5,122,000
Series B Preferred Stock | Preferred Stock          
Class of Stock [Line Items]          
Series B Convertible Preferred Stock shares issued (in shares) | shares   0   23  
Gross proceeds received   $ 0   $ 439,000  
Commissions and other expenses   0   7,000  
Net proceeds   $ 0   $ 432,000  
Series B Preferred Stock | Minimum          
Class of Stock [Line Items]          
Percent of conversion price   110.00%   110.00%