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Condensed Consolidated Statements of Cash Flows (Parenthetical) - USD ($)
Sep. 30, 2020
Dec. 31, 2019
Sep. 30, 2019
Dec. 31, 2018
Reconciliation of cash, cash equivalents, and restricted cash        
Cash and cash equivalents $ 15,885,000 $ 6,033,000 $ 8,690,000  
Restricted cash 1,200,000 700,000 700,000  
Cash, cash equivalents and restricted cash $ 17,085,000 $ 6,733,000 $ 9,390,000 $ 10,463,000