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Summary of Significant Accounting Policies - Loss per share, Warrants and Options expirations (Details) - $ / shares
9 Months Ended 12 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Dec. 31, 2021
Mar. 28, 2023
Jan. 02, 2022
Dec. 31, 2020
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]              
Securities excluded 8,904,503 312,099 355,542 525,470      
Weighted average exercise price, outstanding warrants $ 1.50 $ 36.12          
Weighted average exercise price, outstanding options 24.83 34.49 $ 27.56 $ 37.12     $ 44.41
Common Stock Warrants, Number Of Expirations         667 217,880  
Weighted Average              
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]              
Conversion price $ 1.39 $ 61.50          
Warrants              
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]              
Securities excluded 6,538,500 3,992 667 221,872      
Stock options              
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]              
Securities excluded 206,589 145,505 192,273 140,996      
Convertible debt securities              
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]              
Securities excluded 2,159,414 162,602 162,602 162,602