Stockholders' Equity - Additional information (Details)	1 Months Ended	9 Months Ended		12 Months Ended
	Jun. 30, 2023 shares	Sep. 30, 2023 USD ($) item $ / shares shares	Sep. 30, 2022 USD ($)	Dec. 31, 2022 USD ($) $ / shares shares	Dec. 31, 2020 USD ($) $ / shares shares	Dec. 22, 2020 $ / shares	Nov. 30, 2020 $ / shares	Dec. 31, 2019 USD ($) shares
Capital Stock Shares authorized		120,000,000
Common stock, shares authorized		79,999,997		79,999,997
Common Stock, Par Value Per Share | $ / shares		$ 0.01		$ 0.01
Special stock shares authorized	1			1
Special stock, par value (in dollars per share) | $ / shares		$ 0.01		$ 0.01
Excess stock shares authorized		1		1
Common stock, shares issued		44,869,497		43,448,384
Common stock, shares outstanding		38,103,800		36,907,862
Warrant liability | $		$ 3,000		$ 76,000
Warrants, term								10 years
Warrants to purchase common stock issued (in shares)								7,179,000
Warrants, exercise price (in dollars per share) | $ / shares		$ 4.31				$ 4.50
Threshold minimum beneficial ownership (as a percent)		5.00%						5.00%
Threshold maximum percentage of issued and outstanding common stock, after exercise of warrants (as a percent)								19.90%
Unrealized gain (loss) on warrants | $		$ 70,000	$ 995,000
Number of board members who can be appointed by the warrant holder | item		1
Preemptive rights period		5 years
Share repurchase program, authorized amount | $								$ 5,000,000.0
Share repurchase program, number of shares repurchased (in shares)		0		0	250,197
Share repurchase program, average price paid per share (in dollars per share) | $ / shares					$ 1.93
Share repurchase program, approximate dollar value of shares available for purchase | $		$ 4,500,000
Stock repurchase program, shares repurchased, amount | $					$ 483,361
Corporate Credit Facility
Warrants, exercise price (in dollars per share) | $ / shares					$ 4.31		$ 6.50
Number of warrants reduced for settlement in exchange for share	750,000
Common stock issued	750,000
Warrants outstanding		6,429,000
Common Stock
Common stock issued		750,000
Series A And B Preferred Stock
Excess stock shares authorized		1		1
Preferred Stock
Preferred stock, shares authorized		2		2
Preferred stock, per value (in dollars per share) | $ / shares		$ 0.01		$ 0.01
Blank Check Preferred Stock
Preferred stock, shares authorized		40,000,000		40,000,000
Preferred stock, per value (in dollars per share) | $ / shares		$ 0.01		$ 0.01
Special stock shares authorized		40,000,000		40,000,000