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Stockholders' Equity - Stock Options and Warrants (Details) - USD ($)
 6 Months Ended 9 Months Ended 12 Months Ended
Jun. 30, 2023
Sep. 30, 2023
Dec. 31, 2022
Stock Options, Shares      
Options, Outstanding, Beginning of Period (in shares) 1,391,352 1,391,352  
Options, Granted (in shares)   180,896  
Options, Exercised (in shares) (1,227,776) (82,500)  
Options, Forfeited (in shares)   (144,594)  
Options, Expired (in shares)   (24,603)  
Options, Outstanding, End of Period (in shares)   1,320,551 1,391,352
Options, Vested and expected to vest (in shares)   1,316,134  
Options, Vested (in shares)   1,229,103  
Stock Options, Weighted Average Exercise Price      
Options, Outstanding. Beginning of Period (in dollars per share) $ 10.83 $ 10.83  
Options, Granted (in dollars per share)   3.46  
Options, Exercised (in dollars per share)   1.88  
Options, Forfeited (in dollars per share)   3.63  
Options, Expired (in dollars per share)   29.60  
Options, Outstanding, End of Period (in dollars per share)   10.82 $ 10.83
Options, Vested and expected to vest (in dollars per share)   10.84  
Options, Vested (in dollars per share)   $ 11.25  
Stock Options, Weighted Average Contractual Term and Intrinsic Value      
Options, Outstanding, Weighted Average Remaining Contractual Term   6 years 3 months 18 days 7 years 10 days
Options, Vested and expected to vest, Weighted Average Remaining Contractual Term   6 years 3 months 14 days  
Options, Vested, Weighted Average Remaining Contractual Term   6 years 1 month 2 days  
Options, Outstanding, Aggregate Intrinsic Value   $ 78,700 $ 187,600
Options, Vested and expected to vest, Aggregate Intrinsic Value   78,700  
Options, Vested, Aggregate Intrinsic Value   $ 78,200  
Warrants, Shares      
Warrants, Outstanding, Beginning of Period (in shares) 1,423,774 1,423,774  
Warrants, Granted (in shares)   0  
Warrants, Exercised (in shares)   0  
Warrants, Forfeited (in shares)   0  
Warrants, Expired (in shares)   (2,000)  
Warrants, Outstanding, End of Period (in shares)   1,421,744 1,423,774
Warrants, Vested and expected to vest (in shares)   1,421,744  
Warrants, Vested (in shares)   1,421,744  
Warrants, Weighted Average Exercise Price      
Warrants Outstanding, Beginning of Period (in dollars per share) $ 42.57 $ 42.57  
Warrants, Granted (in dollars per share)   0  
Warrants, Exercised (in dollars per share)   0  
Warrants, Forfeited (in dollars per share)   0  
Warrants, Expired (in dollars per share)   88.35  
Warrants Outstanding, End of Period (in dollars per share)   42.51 $ 42.57
Warrants, Weighted Average Exercise Price, Vested or expected to vest in the future (in dollars per share)   42.51  
Warrants, Vested, Weighted Average Exercise Price (in dollars per share)   $ 42.51  
Warrants, Weighted Average Contractual Term and Intrinsic Value      
Warrants, Outstanding, Weighted Average Remaining Contractual Term   2 years 8 months 1 day 3 years 4 months 13 days
Warrants, Vested and expected to vest, Weighted Average Remaining Contractual Term   2 years 8 months 1 day  
Warrants, Vested, Weighted Average Remaining Contractual Term   2 years 8 months 1 day  
Warrants Outstanding, Aggregate Intrinsic Value   $ 0 $ 0
Warrants, Vested and expected to vest, Aggregate Intrinsic Value   0  
Warrants, Vested, Aggregate Intrinsic Value   $ 0