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Stock-Based Compensation Plans (Tables) | 12 Months Ended
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Sep. 30, 2019
Disclosure Of Compensation Related Costs Sharebased Payments [Abstract] |
Stock-Based Compensation Expenses | The Company’s stock-based compensation expenses for the years ended September 30 were allocated to the following expense categories
|  | 2019 |  |  | 2018 |  |  | 2017 |
Product costs |  | $ | 135 |  |  | $ | 69 |  |  | $ | 90 |
Research and development |  |  | 876 |  |  |  | 801 |  |  |  | 510 |
Selling, general and administrative |  |  | 4,066 |  |  |  | 3,937 |  |  |  | 2,872 |
Total stock-based compensation expense |  | $ | 5,077 |  |  | $ | 4,807 |  |  | $ | 3,472 |
Assumptions Used in Stock Option Plans | The assumptions used as inputs in the model for the years ended September 30 were as follows:
|  | 2019 |  |  | 2018 |  |  | 2017 |
Risk-free interest rates |  |  | 2.75 | % |  |  | 2.18 | % |  |  | 1.74 | %
Expected life |  | 4.5 years |  |  | 4.8 years |  |  | 4.6 years |
Expected volatility |  |  | 34 | % |  |  | 33 | % |  |  | 34 | %
Dividend yield |  |  | 0 | % |  |  | 0 | % |  |  | 0 | %
Schedule of Stock Option Activity | The following table summarizes all stock options activity and stock options outstanding and exercisable under the stock option plans during fiscal 2019, 2018 and 2017:
|  | Number of Shares |  |  | Weighted Average Exercise Price |
Outstanding at September 30, 2016 |  |  | 827,325 |  |  | $ | 21.30 |
Granted |  |  | 229,039 |  |  |  | 24.08 |
Exercised |  |  | (6,819 | ) |  |  | 13.89 |
Forfeited and expired |  |  | (47,640 | ) |  |  | 30.65 |
Outstanding at September 30, 2017 |  |  | 1,001,905 |  |  |  | 21.54 |
Granted |  |  | 269,961 |  |  |  | 34.08 |
Exercised |  |  | (450,495 | ) |  |  | 19.46 |
Forfeited and expired |  |  | (110,825 | ) |  |  | 30.18 |
Outstanding at September 30, 2018 |  |  | 710,546 |  |  |  | 26.28 |
Granted |  |  | 179,669 |  |  |  | 55.09 |
Exercised |  |  | (12,604 | ) |  |  | 22.03 |
Forfeited and expired |  |  | (6,435 | ) |  |  | 42.28 |
Outstanding at September 30, 2019 |  |  | 871,176 |  |  |  | 32.18 |
Exercisable at September 30, 2019 |  |  | 418,873 |  |  | $ | 24.71 |
Schedule of Restricted Stock Awards Activity | The following table summarizes all restricted stock awards activity during fiscal 2019, 2018 and 2017:
|  | Number of Shares |  |  | Weighted Average Grant Price |
Balance at September 30, 2016 |  |  | 33,133 |  |  | $ | 20.96 |
Granted |  |  | 51,559 |  |  |  | 25.12 |
Vested |  |  | (14,497 | ) |  |  | 21.10 |
Forfeited |  |  | (2,278 | ) |  |  | 25.12 |
Balance at September 30, 2017 |  |  | 67,917 |  |  |  | 23.98 |
Granted |  |  | 56,244 |  |  |  | 34.38 |
Vested |  |  | (28,717 | ) |  |  | 23.78 |
Forfeited |  |  | (10,020 | ) |  |  | 29.10 |
Balance at September 30, 2018 |  |  | 85,424 |  |  |  | 30.30 |
Granted |  |  | 45,049 |  |  |  | 56.05 |
Vested |  |  | (39,195 | ) |  |  | 28.61 |
Forfeited |  |  | (869 | ) |  |  | 47.86 |
Balance at September 30, 2019 |  |  | 90,409 |  |  | $ | 43.69 |
Schedule of Fair Value at the Date of Grant | The aggregate number of shares that could be awarded to key employees if the minimum, target and maximum performance goals are met, based upon the fair value at the date of grant is as follows:
Performance Period |  | Minimum Shares |  |  | Target Shares |  |  | Maximum Shares |
Fiscal 2017 - 2019 |  |  | 9,352 |  |  |  | 46,758 |  |  |  | 93,516 |

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