Bleeding after sex..23 weeks

Hi all,
I am 23 weeks and had sex earlier this afternoon. There was no pain at all but right after there were streaks of red blood on my husband and it's now just brown spotting when I wipe not a flow. I thought it would be gone by now. I have not bled much at all this pregnancy so it surprised me. I have no cramps or pain just scared that we hurt the placenta or cervix or something.
Anyone had experience with this to help calm my anxiety?
Thanks so much