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Stock-Based Compensation, Equity Compensation Plans (Details) - shares
9 Months Ended 12 Months Ended
Sep. 30, 2023
Dec. 31, 2014
Jul. 14, 2023
Jul. 13, 2023
May 17, 2022
May 16, 2022
Jun. 17, 2021
Dec. 08, 2020
Dec. 07, 2020
Mar. 31, 2019
Dec. 31, 2018
The Plans [Member]                      
Stock Options [Abstract]                      
Term of plan 10 years                    
The Plans [Member] | Incentive Stock Options [Member]                      
Stock Options [Abstract]                      
Vesting period 4 years                    
The Plans [Member] | Incentive Stock Options [Member] | Maximum [Member]                      
Stock Options [Abstract]                      
Term of option 10 years                    
2014 Equity Incentive Plan [Member]                      
Stock Options [Abstract]                      
Number of shares authorized for issuance (in shares)   91,367 6,565,535 4,165,535     3,339,243     826,292  
Percentage of Common Stock outstanding used to determine annual increase in the plan limit   4.00%                  
Shares available for grant (in shares) 119,013                    
2018 Equity Incentive Plan [Member]                      
Stock Options [Abstract]                      
Number of shares authorized for issuance (in shares)                     558,071
Shares available for grant (in shares) 190,799                    
2019 Inducement Plan [Member]                      
Stock Options [Abstract]                      
Shares available for grant (in shares) 185,315                    
Common stock reserved for issuance (in shares)         1,100,000 500,000   500,000 200,000