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Shareholders' Equity (Details) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Jun. 30, 2021
May 31, 2021
Dec. 31, 2020
Apr. 03, 2018
Value of shares issued   $ 6,874   $ 18,774        
Cash dividend rate declared, per common share $ 0.01   $ 0.03          
Common Stock, Dividends, Per Share, Declared and Paid   $ 0.01   $ 0.03        
Dividends paid $ 700 $ 700 $ 2,500 $ 2,100        
Common stock, shares authorized 200,000,000   200,000,000   200,000,000 100,000,000 200,000,000  
Common stock, par value $ 0.001   $ 0.001       $ 0.001  
ATM Agreement                
Sale of shares 0 1,705,323 0 6,039,823        
Value of shares issued   $ 6,800   $ 18,700        
Maximum | ATM Agreement                
Common stock aggregate gross sales price               $ 75,000