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Condensed Financial Information of Registrant Balance Sheet (Parenthetical) (Details) - $ / shares
Dec. 31, 2019
Dec. 31, 2018
Condensed Balance Sheet Statements, Captions [Line Items]    
Preferred stock, par value (in dollars per share) $ 0.01 $ 0.01
Preferred stock, shares authorized (in shares) 3,000,000 3,000,000
Preferred stock, shares issued (in shares) 0 0
Common stock, par value (in dollars per share) $ 0.01 $ 0.01
Common stock, shares authorized (in shares) 500,000,000 500,000,000
Common stock, shares issued (in shares) 53,254,151 46,983,924
Parent Company    
Condensed Balance Sheet Statements, Captions [Line Items]    
Preferred stock, par value (in dollars per share) $ 0.01 $ 0.01
Preferred stock, shares authorized (in shares) 3,000,000 3,000,000
Preferred stock, shares issued (in shares) 0 0
Common stock, par value (in dollars per share) $ 0.01 $ 0.01
Common stock, shares authorized (in shares) 500,000,000 500,000,000
Common stock, shares issued (in shares) 53,254,151 46,983,924