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Consolidated Balance Sheets (Parenthetical) - USD ($)
$ in Thousands
Sep. 30, 2021
Sep. 30, 2020
Statement of Financial Position [Abstract]    
Accounts receivable, allowance for doubtful accounts (in dollars) $ 490 $ 389
Common stock, par value (in dollars per share) $ 0.001 $ 0.001
Common stock, shares authorized (in shares) 120,000,000 120,000,000
Common stock, shares issued (in shares) 35,457,095 34,082,406
Common stock, shares outstanding (in shares) 35,457,095 34,082,406
Treasury stock (in shares) 2,222,083 547,508