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Revenue Recognition - Contract Balances (Details) - USD ($)
$ in Thousands
Mar. 31, 2021
Sep. 30, 2020
Revenue from Contract with Customer [Abstract]    
Contract assets, current $ 3,577 $ 5,187
Contract assets, non-current 3,900 4,468
Contract liabilities (deferred revenue), current 11,353 7,973
Contract liabilities (deferred revenue), non-current $ 585 $ 1,597