Equity - Schedule of Warrants (Details) - shares	3 Months Ended						9 Months Ended
	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Sep. 30, 2023	Sep. 30, 2022
Common Stock
Warrants and Rights Outstanding [Roll Forward]
Warrants reserved for future issuance (in shares)	789,458			1,191,877			789,458	1,191,877
Issuance of common stock for warrant exercise (in shares)	1,809	878	4,654	493,016	166,606	669,669	7,341
Class A Warrants
Warrants and Rights Outstanding [Roll Forward]
Outstanding, beginning balance (in shares)	4,492,004	4,492,004	4,495,004				4,495,004
Converted into common stock (in shares)	0	0	(3,000)
Outstanding, ending balance (in shares)	4,492,004	4,492,004	4,492,004				4,492,004
Class B Warrants
Warrants and Rights Outstanding [Roll Forward]
Outstanding, beginning balance (in shares)	4,403,064	4,403,564	4,404,564				4,404,564
Converted into common stock (in shares)	0	(500)	(1,000)
Outstanding, ending balance (in shares)	4,403,064	4,403,064	4,403,564				4,403,064
Class C Warrants
Warrants and Rights Outstanding [Roll Forward]
Outstanding, beginning balance (in shares)	4,005,592	4,006,059	4,006,229				4,006,229
Converted into common stock (in shares)	(2,575)	(467)	(170)
Outstanding, ending balance (in shares)	4,003,017	4,005,592	4,006,059				4,003,017
Warrants reserved for future issuance (in shares)	1,489,337			2,248,726			1,489,337	2,248,726