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Common Stock Warrants - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended 9 Months Ended 12 Months Ended
Oct. 31, 2021
Apr. 30, 2021
Dec. 31, 2020
May 31, 2018
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2020
Dec. 31, 2016
Dec. 31, 2018
Class Of Warrant Or Right [Line Items]                      
Number of warrant shares issued   40,000 30,000 23,669           45,000  
Exercise price   $ 9.41 $ 18 $ 3.19         $ 18 $ 1.14  
Warrant shares, exercised 45,000                    
Warrant expiration year       2025         2027 2023  
Warrant expense recognized         $ 0 $ 0 $ 0 $ 0      
Warrant vesting period                 4 years    
Warrant exercised month and year 2021-10 2021-05                  
Series B Financing                      
Class Of Warrant Or Right [Line Items]                      
Warrant shares become exercisable                     15,000
Private Placement                      
Class Of Warrant Or Right [Line Items]                      
Warrant shares become exercisable                   15,000  
Proceeds from offering of securities in a private placement                   $ 25,000,000  
Initial Public Offering                      
Class Of Warrant Or Right [Line Items]                      
Warrant shares become exercisable     30,000           30,000