Unreverse a reverse document (or voided check that was cashed)

The company reversed a payment document but did not void the check. The check was later cashed by the vendor. The company subsequently mark the check as voided but the check has already the bank. What to do now?

The best solution is to unreverse the reverse document since the company agreed to pay the check. But it don't think it is possible in SAP.

Alternatively, the company can post another invoice and link the cashed check with it. But is this possible?