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5.50% Series B Cumulative Convertible Preferred Stock (Details)
$ / shares in Units, shares in Thousands
 12 Months Ended 13 Months Ended
Dec. 04, 2019
USD ($)
Dec. 31, 2020
USD ($)
day
$ / shares
shares
Dec. 31, 2019
USD ($)
shares
Dec. 31, 2018
USD ($)
Dec. 31, 2020
$ / shares
shares
Class of Stock [Line Items]          
Series B Convertible Preferred Stock   $ 10,219,000 $ 10,142,000 $ 7,205,000  
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%    
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   $ 6,919,000 $ 6,842,000 $ 6,829,000  
Series B Preferred Stock | Preferred Stock          
Class of Stock [Line Items]          
Series B Convertible Preferred Stock shares issued (in shares) | shares   23 42    
Gross proceeds received   $ 439,000 $ 809,000    
Commissions and other expenses   7,000 12,000    
Net proceeds   432,000 $ 797,000    
Series B Preferred Stock | Equity Distribution Agreements With Sales Agents          
Class of Stock [Line Items]          
Aggregate offering price (up to)   $ 1,200,000      
Shares sold (in shares) | shares         65
Series B Preferred Stock | Minimum          
Class of Stock [Line Items]          
Percent of conversion price   110.00%     110.00%