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5.50% Series B Cumulative Convertible Preferred Stock (Details)
 3 Months Ended 6 Months Ended 12 Months Ended 19 Months Ended
Jun. 30, 2021
USD ($)
$ / shares
Dec. 04, 2019
USD ($)
Jun. 30, 2021
USD ($)
$ / shares
shares
Jun. 30, 2020
USD ($)
shares
Jun. 30, 2021
USD ($)
day
$ / shares
shares
Jun. 30, 2020
USD ($)
shares
Dec. 31, 2020
$ / shares
Jun. 30, 2021
$ / shares
shares
Class of Stock [Line Items]                
Series B Convertible Preferred Stock     $ 1,893,000 $ 2,555,000 $ 4,281,000 $ 5,110,000    
Common Stock                
Class of Stock [Line Items]                
Common Shares Issued (in shares) | shares     5,636,000   7,171,000      
Equity Distribution Agreements                
Class of Stock [Line Items]                
Maximum offering price   $ 40,000,000.0            
Percentage of the gross sales price   2.00%            
Shares sold (in shares) | shares     5,972,000   5,972,000      
Proceeds received     $ 36,213,000   $ 36,213,000      
Series B Preferred Stock                
Class of Stock [Line Items]                
Preferred stock dividend rate     5.50% 5.50% 5.50% 5.50% 5.50%  
Initial conversion price (in dollars per share) | $ / shares $ 18.70   $ 18.70   $ 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   $ 25.00     $ 25.00
Redemption percent of liquidation preference 103.00%   103.00%   103.00%     103.00%
Liquidation preference per share (in dollars per share) | $ / shares $ 25.00   $ 25.00   $ 25.00     $ 25.00
Series B Convertible Preferred Stock     $ 1,068,000 $ 1,730,000 $ 2,631,000 $ 3,460,000    
Series B preferred stock, par value (in dollars per share) | $ / shares $ 0.01   $ 0.01   $ 0.01   $ 0.01 $ 0.01
Preferred Shares Tendered (in shares) | shares     1,437,000   1,923,000      
Series B Preferred Stock | Preferred Stock                
Class of Stock [Line Items]                
Series B Convertible Preferred Stock shares issued (in shares) | shares     0 0 0 23,000    
Gross proceeds received     $ 0 $ 0 $ 0 $ 439,000    
Commissions and other expenses     0 0 0 7,000    
Net proceeds     $ 0 $ 0 $ 0 $ 432,000    
Series B Preferred Stock | Equity Distribution Agreements                
Class of Stock [Line Items]                
Shares sold (in shares) | shares               65,000
Proceeds received $ 1,200,000              
Series B Preferred Stock | Minimum                
Class of Stock [Line Items]                
Percent of conversion price 110.00%   110.00%   110.00%     110.00%