I just upgraded CiviCRM on a test version of my Drupal 7.54 site from 4.7.15 to 4.7.23 and get the following (edited) error when going to system status in CiviCRM.
Warning: mkdir(): Permission denied in Civi\Core\AssetBuilder->build() (line 167 of sites/all/modules/contrib/civicrm/Civi/Core/AssetBuilder.php). Warning: file_put_contents(sites/default/files/civicrm/persist/contribute/dyn/angular-modules.eef75e30334ca152b0d58bf58d4xxxxx.js): failed to open stream: No such file or directory in Civi\Core\AssetBuilder->build() (line 171 of sites/all/modules/contrib/civicrm/Civi/Core/AssetBuilder.php)
I made sure that I deleted templates_c and made it and all CiviCRM files writeable to the server.