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Convertible Preferred Stock - Dividends, Liquidation and Conversion (Details)
9 Months Ended 12 Months Ended
Sep. 30, 2023
USD ($)
$ / shares
Dec. 31, 2022
USD ($)
$ / shares
Dec. 31, 2021
USD ($)
Convertible Preferred Stock      
Per Share Preference $ 7.3097 $ 7.3097  
Conversion rate 1 1  
Minimum net proceeds from sale of common stock in an underwritten public offering for automatic conversion of convertible preferred stock | $ $ 50,000,000 $ 50,000,000  
Minimum percentage of voting for automatic conversion of convertible preferred stock 0.66% 66.00%  
Public offering price per share as percentage of then effective per share 71.4286% 71.4286%  
Cash dividends declared | $   $ 0 $ 0
Series A      
Convertible Preferred Stock      
Dividend rate $ 0.4382 $ 0.4382  
Per Share Preference 5.4779 5.4779  
Original issue price 5.4779 5.4779  
Series A-1      
Convertible Preferred Stock      
Dividend rate 0.4382 0.4382  
Per Share Preference   5.4779  
Series A-2      
Convertible Preferred Stock      
Dividend rate 0.4382 0.4382  
Per Share Preference   5.4779  
Series B      
Convertible Preferred Stock      
Dividend rate 0.5847768 0.5847768  
Per Share Preference 7.3097 7.3097  
Minimum sale price of common stock in an underwritten public offering for automatic conversion of convertible preferred stock 7.3097 7.3097  
Original issue price 7.3097 7.3097  
Series B-1      
Convertible Preferred Stock      
Dividend rate 0.5847768 0.5847768  
Per Share Preference   7.3097  
Series B-2      
Convertible Preferred Stock      
Dividend rate $ 0.5847768 0.5847768  
Per Share Preference   $ 7.3097