Stockholders' Equity - Options Outstanding Separated Into Range of Exercise Price (Details) - $ / shares	9 Months Ended	12 Months Ended
	Sep. 30, 2023	Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Weighted average exercise price (in dollars per share)	$ 7.572
Options outstanding, exercise price range (in shares)	596,333
Options outstanding, weighted average remaining contractual life (Year)	1 year 2 months 15 days	1 year 10 months 24 days
Options exercisable, exercise price range (in shares)	594,800
Options exercisable, weighted average remaining contractual life (years)	1 year 2 months 12 days
Weighted average exercise price of options exercisable, exercise price range (in dollars per share)	$ 7.577
Range One
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Lower range of exercise price (in dollars per share)	5.623
Upper range of exercise price (in dollars per share)	6.503
Weighted average exercise price (in dollars per share)	$ 5.636
Options outstanding, exercise price range (in shares)	74,587
Options outstanding, weighted average remaining contractual life, exercise price range (Year)	2 years 10 months 28 days
Options exercisable, exercise price range (in shares)	73,054
Options exercisable, weighted average remaining contractual life, exercise price range (years)	2 years 10 months 9 days
Weighted average exercise price of options exercisable, exercise price range (in dollars per share)	$ 5.635
Range Two
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Lower range of exercise price (in dollars per share)	7.000
Upper range of exercise price (in dollars per share)	7.337
Weighted average exercise price (in dollars per share)	$ 7.074
Options outstanding, exercise price range (in shares)	392,156
Options outstanding, weighted average remaining contractual life, exercise price range (Year)	10 months 6 days
Options exercisable, exercise price range (in shares)	392,156
Options exercisable, weighted average remaining contractual life, exercise price range (years)	10 months 6 days
Weighted average exercise price of options exercisable, exercise price range (in dollars per share)	$ 7.074
Range Three
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Weighted average exercise price (in dollars per share)	$ 9.960
Options outstanding, exercise price range (in shares)	120,180
Options outstanding, weighted average remaining contractual life, exercise price range (Year)	1 year 4 months 24 days
Options exercisable, exercise price range (in shares)	120,180
Options exercisable, weighted average remaining contractual life, exercise price range (years)	1 year 4 months 24 days
Weighted average exercise price of options exercisable, exercise price range (in dollars per share)	$ 9.960
Range Four
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Weighted average exercise price (in dollars per share)	$ 13.287
Options outstanding, exercise price range (in shares)	9,410
Options outstanding, weighted average remaining contractual life, exercise price range (Year)	5 months 19 days
Options exercisable, exercise price range (in shares)	9,410
Options exercisable, weighted average remaining contractual life, exercise price range (years)	5 months 19 days
Weighted average exercise price of options exercisable, exercise price range (in dollars per share)	$ 13.287