Condensed Consolidated Balance Sheets (Parenthetical) - USD ($)	Sep. 30, 2020	Dec. 31, 2019
Common stock, par value (in usd per share)	$ 0.001	$ 0.001
Common stock, authorized (in shares)	210,000,000	210,000,000
Common stock, issued (in shares)	33,094,664	33,033,793
Common stock, outstanding (in shares)	33,094,664	33,033,793
Treasury stock (in shares)	2,500,000	2,500,000
Redeemable Preferred Stock
Preferred stock, par value (in usd per share)	$ 0.001	$ 0.001
Preferred stock, authorized (in shares)	100,000	100,000
Preferred stock, outstanding (in shares)	59,681	84,636
Preferred stock, liquidation preference	$ 60,029	$ 85,130
Series 2 Redeemable Preferred Stock
Preferred stock, par value (in usd per share)	$ 0.001	$ 0.001
Preferred stock, authorized (in shares)	150,000	150,000
Preferred stock, outstanding (in shares)	137,341	147,164
Preferred stock, liquidation preference	$ 138,142	$ 148,023