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Condensed Consolidated Balance Sheets (unaudited) (Parenthetical) - $ / shares
Sep. 30, 2023
Dec. 31, 2022
Statement of Financial Position [Abstract]    
Common stock par value (in dollars per share) $ 0.001 $ 0.001
Common stock shares authorized 25,000,000 25,000,000
Common stock shares issued 17,404,013 16,569,173
Common stock shares outstanding 17,404,013 16,569,173