Stock-Based Incentive Compensation Plans - Common Stock Warrants Activity (Details) - $ / shares	3 Months Ended	9 Months Ended
	Jun. 30, 2023	Sep. 30, 2023	Dec. 31, 2022
Class of Warrant or Right [Line Items]
Issuance of common stock upon exercise of warrant, net of shares withheld (in shares)	22,603
Share-Based Compensation Arrangement by Share-Based Payment Award, Non-Option Equity Instruments, Outstanding [Roll Forward]
Warrants outstanding, beginning balance (in shares)		85,139	118,122
Warrants Issued (in shares)		0
Warrants Exercised (in shares)		(32,983)
Warrants Expired (in shares)		0
Warrants outstanding, ending balance (in shares)		85,139
Warrants Issued 3/1/2017
Class of Warrant or Right [Line Items]
Price per Share (in dollars per share)			$ 5.94
Share-Based Compensation Arrangement by Share-Based Payment Award, Non-Option Equity Instruments, Outstanding [Roll Forward]
Warrants outstanding, beginning balance (in shares)		1,388	1,388
Warrants Issued (in shares)		0
Warrants Exercised (in shares)		0
Warrants Expired (in shares)		0
Warrants outstanding, ending balance (in shares)		1,388
Warrants Issued 7/22/2013
Class of Warrant or Right [Line Items]
Price per Share (in dollars per share)			$ 9.10
Share-Based Compensation Arrangement by Share-Based Payment Award, Non-Option Equity Instruments, Outstanding [Roll Forward]
Warrants outstanding, beginning balance (in shares)		0	32,983
Warrants Issued (in shares)		0
Warrants Exercised (in shares)		(32,983)
Warrants Expired (in shares)		0
Warrants outstanding, ending balance (in shares)		0
Warrants Issued 11/26/2014
Class of Warrant or Right [Line Items]
Price per Share (in dollars per share)			$ 16.47
Share-Based Compensation Arrangement by Share-Based Payment Award, Non-Option Equity Instruments, Outstanding [Roll Forward]
Warrants outstanding, beginning balance (in shares)		6,680	6,680
Warrants Issued (in shares)		0
Warrants Exercised (in shares)		0
Warrants Expired (in shares)		0
Warrants outstanding, ending balance (in shares)		6,680
Warrants Issued 10/20/2015
Class of Warrant or Right [Line Items]
Price per Share (in dollars per share)			$ 16.47
Share-Based Compensation Arrangement by Share-Based Payment Award, Non-Option Equity Instruments, Outstanding [Roll Forward]
Warrants outstanding, beginning balance (in shares)		41,650	41,650
Warrants Issued (in shares)		0
Warrants Exercised (in shares)		0
Warrants Expired (in shares)		0
Warrants outstanding, ending balance (in shares)		41,650
Warrants Issued 11/9/2015
Class of Warrant or Right [Line Items]
Price per Share (in dollars per share)			$ 16.47
Share-Based Compensation Arrangement by Share-Based Payment Award, Non-Option Equity Instruments, Outstanding [Roll Forward]
Warrants outstanding, beginning balance (in shares)		25,709	25,709
Warrants Issued (in shares)		0
Warrants Exercised (in shares)
Warrants Expired (in shares)		0
Warrants outstanding, ending balance (in shares)		25,709
Warrants Issued 12/22/2016
Class of Warrant or Right [Line Items]
Price per Share (in dollars per share)			$ 10.03
Share-Based Compensation Arrangement by Share-Based Payment Award, Non-Option Equity Instruments, Outstanding [Roll Forward]
Warrants outstanding, beginning balance (in shares)		9,712	9,712
Warrants Issued (in shares)		0
Warrants Exercised (in shares)		0
Warrants Expired (in shares)		0
Warrants outstanding, ending balance (in shares)		9,712