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CONDENSED CONSOLIDATED BALANCE SHEETS (Parenthetical) - USD ($)
Sep. 30, 2020
Dec. 31, 2019
Allowance for doubtful accounts $ 2,422,000 $ 2,208,000
Common stock, par value (in dollars per share) $ 0.01 $ 0.01
Common stock, shares authorized (in shares) 100,000,000 100,000,000
Common stock, shares issued (in shares) 6,391,569 5,385,043
Common stock, shares outstanding (in shares) 6,391,569 5,385,043
Convertible Notes Payable | Senior Notes, due May 2023    
Aggregate principal amount $ 0 $ 66,090,000
Convertible Notes Payable | Series B Senior Unsecured Convertible Notes    
Aggregate principal amount 0 34,405,000
Convertible Notes Payable | Series C Senior Convertible Notes due 2023    
Aggregate principal amount 50,323,000 0
Convertible Notes Payable | Series D Senior Convertible Notes    
Aggregate principal amount 26,396,000 0
Convertible Notes Payable | Senior Notes, due February 2023    
Aggregate principal amount 99,209,000 88,464,000
Revolving Credit Facility | Line of Credit    
Aggregate principal amount $ 25,000,000 $ 25,000,000