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Stockholders' Equity and Non-controlling Interests - Share Repurchase Program (Details) - USD ($)
$ / shares in Units, $ in Thousands
6 Months Ended
Nov. 07, 2019
Aug. 01, 2018
Jun. 30, 2020
Jun. 30, 2019
Mar. 15, 2017
Stockholders' Equity and Non-controlling Interests          
Increase in number of authorized shares 50,000,000 30,000,000      
Payments for repurchase of shares     $ 3,196 $ 19,466  
Share repurchase          
Stockholders' Equity and Non-controlling Interests          
Shares repurchased (in shares)     494,661    
Shares repurchased, weighted average price (in dollars per share)     $ 6.46    
Payments for repurchase of shares     $ 3,200    
Amount of shares that can be repurchased     $ 44,700    
Share repurchase | Series B Preferred Stock [Member]          
Stockholders' Equity and Non-controlling Interests          
Shares repurchased (in shares)     140,189    
Shares repurchased, weighted average price (in dollars per share)     $ 22.08    
Payments for repurchase of shares     $ 3,100    
Maximum | Share repurchase          
Stockholders' Equity and Non-controlling Interests          
Amount approved for share repurchase program         $ 25,000