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Stockholders' Equity - Stock-based Compensation (Details) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended
Dec. 31, 2020
Sep. 30, 2021
Sep. 30, 2020
Stock-based Compensation      
Stock-based compensation expense   $ 7,113 $ 6,109
RSU      
Stock-based Compensation      
Unrecognized compensation cost   $ 31,800  
Weighted-average period   1 year 7 months 6 days  
Shares      
Nonvested at the beginning of the period (in shares)   435,925  
Granted (in shares)   306,349  
Vested (in shares)   (310,077)  
Forfeited (in shares)   (1,548)  
Nonvested at the end of the period (in shares)   430,649  
Weighted-Average Fair Value      
Nonvested at the beginning of the period (in dollars per share)   $ 84.16  
Granted (in dollars per share)   89.92  
Vested (in dollars per share)   82.58  
Forfeited (in dollars per share)   82.43  
Nonvested at the end of the period (in dollars per share)   $ 89.40  
Stock options      
Stock-based Compensation      
Unrecognized compensation cost   $ 400  
Weighted-average period   1 year 8 months 12 days  
Number of Options      
Outstanding at the beginning of the period (in shares)   255,220  
Exercised (in shares)   (162,393)  
Expired or forfeited (in shares)   (383)  
Outstanding at the end of the period (in shares)   92,444  
Exercisable at the end of the period (in shares)   58,840  
Weighted Average Exercise Price      
Outstanding at the beginning of the period (in dollars per share)   $ 50.24  
Exercised (in dollars per share)   34.08  
Expired or forfeited (in dollars per share)   78.14  
Outstanding at the end of the period (in dollars per share)   78.51  
Exercisable at the end of the period (in dollars per share)   $ 74.44  
Weighted-Average Remaining Contractual Term      
Outstanding at the end of the period   6 years 1 month 6 days  
Exercisable at the end of the period   4 years 7 months 6 days  
Aggregate Intrinsic Value      
Outstanding at the end of the period   $ 1,590  
Exercisable at the end of the period   $ 1,226  
Performance-based restricted stock units      
Shares      
Granted (in shares)   96,620 136,242
Performance-based restricted stock units | Minimum      
Weighted-Average Fair Value      
Payout as a percentage of the original number of shares awarded or units awarded, which are converted into shares of the Company's common stock     0.00%
Performance-based restricted stock units | Maximum      
Weighted-Average Fair Value      
Payout as a percentage of the original number of shares awarded or units awarded, which are converted into shares of the Company's common stock   400.00%  
2012 Plan      
Stock-based Compensation      
Additional maximum number of shares of common stock which may be issued 1,650,000    
Increase in maximum number of shares authorized under share based compensation plan 7,100,000    
Shares available for grant   1,500,000  
2012 Plan | RSU      
Weighted-Average Fair Value      
Number of shares available for grant reduced for each award granted   1.87  
Number of shares available for grant increased for each award forfeited and returned   1.87  
2006 Plan      
Number of Options      
Granted (in shares)   0  
Cost of goods sold      
Stock-based Compensation      
Stock-based compensation expense   $ 206 $ 179
Selling, general and administrative      
Stock-based Compensation      
Stock-based compensation expense   6,767 5,785
Research and development      
Stock-based Compensation      
Stock-based compensation expense   $ 140 $ 145