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STOCK-BASED COMPENSATION (Tables)
 12 Months Ended
Sep. 30, 2023
Share-Based Payment Arrangement [Abstract]  
Schedule of Compensation Cost for Stock-Based Payment Arrangements A summary of compensation cost for stock-based payment arrangements recognized in Drilling services operating expense, Research and development expense and Selling, general and administrative expense on our Consolidated Statements of Operations is as follows:
September 30,
(in thousands)202320222021
Stock-based compensation expense
Drilling services operating$5,919 $5,142 $5,927 
Research and development1,905 1,551 1,271 
Selling, general and administrative24,632 21,339 20,660 
$32,456 $28,032 $27,858 
Schedule of the Status of Restricted Stock Awards and Changes in Restricted Stock Outstanding
A summary of the status of our restricted stock awards as of September 30, 2023, and of changes in restricted stock outstanding during the fiscal years ended September 30, 2023, 2022 and 2021, is as follows:
202320222021
(shares in thousands)
Shares1
Weighted-Average Grant Date Fair Value per Share
Shares1
Weighted-Average Grant Date Fair Value per Share
Shares1
Weighted-Average Grant Date Fair Value per Share
Non-vested restricted stock outstanding as of the beginning of period1,493 $30.85  1,412 $37.36  1,280 $49.81 
Granted592 44.48  744 25.83  701 25.61 
Vested2
(708)33.95  (610)39.81  (534)51.79 
Forfeited(15)36.25  (53)30.98  (35)35.76 
Non-vested restricted stock outstanding at September 30, 1,362 $35.11  1,493 $30.85  1,412 $37.36 
(1)Restricted stock shares include restricted phantom stock units under our Director Deferred Compensation Plan. These phantom stock units confer the economic benefits of owning company stock without the actual ownership, transfer or issuance of any shares. Phantom stock units are subject to a vesting period of one year from the grant date. During the fiscal years ended September 30, 2023, 2022, and 2021, 12,591, 14,199, and 18,906 restricted phantom stock units were granted, respectively, and 14,199, 18,906 and 20,616 restricted phantom stock units vested, respectively.
(2)The number of restricted stock awards vested includes shares that we withheld on behalf of our employees to satisfy the statutory tax withholding requirements.
A summary of the status of our performance units and changes in non-vested performance units outstanding is presented below:
202320222021
(in thousands, except per share amounts)SharesWeighted-Average Grant Date Fair Value per ShareSharesWeighted-Average Grant Date Fair Value per ShareSharesWeighted-Average Grant Date Fair Value per Share
Non-vested performance units outstanding as of the beginning of period726 $33.67 699 $41.55 337 $51.09 
Granted144 54.30 227 30.12 313 29.77 
Vested 1
(286)43.40 (161)62.66 — — 
Dividend equivalent rights credited and performance factor adjustment2
212 35.94 15 32.82 60 49.64 
Forfeited— — (54)34.16 (11)43.40 
Non-vested performance units outstanding September 30,3
796 $34.51 726 $33.67 $699 $41.55 
(1)The number of performance units vested includes units that we withheld on behalf of our employees to satisfy the statutory tax withholding requirements.
(2)At the end of the Vesting Period, recipients receive dividend equivalents, if any, with respect to the number of vested performance units. The vesting of units ranges from zero to 200 percent of the units granted depending on the Company's total shareholder return ("TSR") relative to the TSR of the Peer Group on the vesting date.
(3)Of the total non-vested performance units at the end of the period, specified performance criteria has been achieved with respect to 233,322 performance units which is calculated based on the payout percentage for the completed performance period. The vesting and number of the remainder of non-vested performance units reflected at the end of the period is contingent upon our achievement of specified target performance criteria. If we meet the specified maximum performance criteria, approximately 412,046 additional performance units could vest or become eligible to vest.
Schedule of Weighted-Average Assumptions Used in Calculation of Fair Value of Awards
The weighted-average fair value calculations for performance units granted within the fiscal period are based on the following weighted-average assumptions set forth in the table below. 
202320222021
Risk-free interest rate1
4.1 %1.0 %0.2 %
Expected stock volatility2
71.6 %67.3 %62.3 %
Expected term (in years)333
(1)The risk-free interest rate is based on U.S. Treasury securities for the expected term of the performance units.
(2)Expected volatilities are based on the daily closing price of our stock based upon historical experience over a period which approximates the expected term of the performance units.