TLDR: While technically feasible to have IDS/IPS without a firewall, it's not advisable.
If budget is a concern, open-source tools like Snort, Suricata, Wazuh, and OSSEC are viable options. For a hardware appliance solution, consider vendors utilizing open-source solutions like pfSense, a free firewall compatible with IDS and IPS add-ons.
This setup should suffice considering your threat model.