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Related Party Transactions (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Related Party Transaction [Line Items]        
Rental revenue $ 9,628 $ 11,454 $ 30,183 $ 34,461
Property operating expenses 5,610 6,388 16,500 18,507
General and administrative 2,813 1,646 8,549 7,063
Advisory fee to related party 3,234 2,139 10,144 6,483
Interest income 5,155 4,348 14,518 13,102
Interest expense 5,910 6,291 19,096 21,999
Affiliate        
Related Party Transaction [Line Items]        
Rental revenue 312 262 867 808
Property operating expenses 178 254 755 750
General and administrative 947 1,017 3,195 2,783
Interest income 4,337 3,752 11,961 11,255
Interest expense 413 380 1,200 1,193
Affiliate | Pillar and Regis        
Related Party Transaction [Line Items]        
Rental revenue 312 262 867 808
Affiliate | Regis        
Related Party Transaction [Line Items]        
Property operating expenses 178 254 755 750
Affiliate | Pillar        
Related Party Transaction [Line Items]        
General and administrative 947 1,017 3,195 2,783
Advisory fee to related party 3,234 2,139 10,144 6,483
Interest expense 413 380 1,200 1,193
Affiliate | UHF and Pillar        
Related Party Transaction [Line Items]        
Interest income $ 4,337 $ 3,752 $ 11,961 $ 11,255
ARL | MRHI | Affiliate        
Related Party Transaction [Line Items]        
Ownership interest 90.80%   90.80%