How to remove/trim MCP4725 DAC offset?
In software, you could subtract 23 from the digital value before sending it to the DAC.

If I am reading the datasheet correctly then this offset value is within the specified maximum \$V_{OS}\$ for the converter, which is 0.75% of full scale. If the full-scale output is 4.096V then the maximum offset should be less than \$\pm 30.72\,\text{mV}\$.

However, you should make sure that this really is a constant offset value. The gain error and non-linearity errors may be more significant over the entire range of output values.