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Stockholders' Equity - Narrative (Details) |  | 12 Months Ended |  |  |  |  |  |  |  |  |  |  |
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Nov. 06, 2018 $ / shares shares | Sep. 30, 2022 USD ($) $ / shares shares | Sep. 30, 2021 USD ($) $ / shares shares | Sep. 30, 2020 USD ($) $ / shares shares | Jun. 30, 2022 $ / shares | Mar. 31, 2022 $ / shares | Oct. 22, 2021 shares | Jun. 15, 2021 USD ($) | Jan. 31, 2020 shares | Dec. 13, 2019 USD ($) | Sep. 30, 2019 shares | Feb. 28, 2019 | Oct. 23, 2018 $ / right $ / shares shares | Mar. 07, 2018 shares | Mar. 10, 2017 shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Options granted (in shares) |  | 0 | 0 | 92,610 |  |  |  |  |  |  |  |  |  |  |
Unrecognized compensation expense related to options outstanding | $ |  | $ 28,500,000 |  |  |  |  |  |  |  |  |  |  |  |  |
Weighted average period for unrecognized compensation expense expected to be recognized |  | 2 years 2 months 12 days |  |  |  |  |  |  |  |  |  |  |  |  |
Options to purchase common stock outstanding (in shares) |  | 781,092 | 816,717 | 1,162,505 |  |  |  |  |  |  | 1,686,902 |  |  |  |
Recognized compensation expense | $ |  | $ 13,346,000 | $ 11,532,000 | $ 9,551,000 |  |  |  |  |  |  |  |  |  |  |
Total intrinsic value of options exercised | $ |  | 300,000 | 2,700,000 | $ 2,500,000 |  |  |  |  |  |  |  |  |  |  |
Weighted average fair value of options granted (in dollars per share) | $ / shares |  |  |  | $ 4.32 |  |  |  |  |  |  |  |  |  |  |
Aggregate intrinsic value of options | $ |  | 1,500,000 | 9,000,000 |  |  |  |  |  |  |  |  |  |  |  |
Amount authorized under share repurchase program | $ |  |  |  |  |  |  |  | $ 15,000,000 |  | $ 10,000,000 |  |  |  |  |
Amount of shares repurchased | $ |  | $ 14,800,000 | $ 200,000 | $ 1,000,000 |  |  |  |  |  |  |  |  |  |  |
Number of shares repurchased (in shares) |  | 886,204 | 10,555 | 137,000 |  |  |  |  |  |  |  |  |  |  |
Average price of shares repurchased (in dollars per share) | $ / shares |  | $ 16.73 | $ 17.99 | $ 7.33 |  |  |  |  |  |  |  |  |  |  |
Amount of shares repurchased and retired | $ |  | $ 15,176,000 | $ 190,000 | $ 1,002,000 |  |  |  |  |  |  |  |  |  |  |
Preferred stock, par value per share (in dollars per share) | $ / shares |  | $ 0.001 | $ 0.001 |  | $ 0.001 | $ 0.001 |  |  |  |  |  |  |  |  |
Percentage of common stock outstanding for acquiring person under right agreement |  |  |  |  |  |  |  |  |  |  |  | 4.90% |  |  |
Series B Junior Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of preferred share purchase right for each share of common stock (in shares) |  |  |  |  |  |  |  |  |  |  |  |  | 1 |  |
Preferred stock, share conversion ratio |  |  |  |  |  |  |  |  |  |  |  |  | 0.001 |  |
Preferred stock, par value per share (in dollars per share) | $ / shares |  |  |  |  |  |  |  |  |  |  |  |  | $ 0.001 |  |
Preferred stock, purchase price per right (in dollars per right) | $ / right |  |  |  |  |  |  |  |  |  |  |  |  | 35.00 |  |
Preferred stock, redemption price per right (in dollars per share) | $ / shares |  |  |  |  |  |  |  |  |  |  |  |  | $ 0.0001 |  |
Preferred stock, number of rights expired, redeemed or exchanged (in shares) |  |  |  |  |  |  | 0 |  |  |  |  |  |  |  |
RSUs |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Weighted average period for unrecognized compensation expense expected to be recognized |  | 2 years 3 months 18 days |  |  |  |  |  |  |  |  |  |  |  |  |
Awards outstanding (in shares) |  | 2,441,677 | 2,411,267 | 2,661,943 |  |  |  |  |  |  | 2,352,487 |  |  |  |
Recognized compensation expense | $ |  | $ 9,400,000 | $ 8,100,000 | $ 6,900,000 |  |  |  |  |  |  |  |  |  |  |
Unrecognized compensation expense | $ |  | $ 21,200,000 |  |  |  |  |  |  |  |  |  |  |  |  |
Number of previously issued awards cancelled that did not meet criteria for vesting (in shares) |  | 344,329 | 161,961 | 266,748 |  |  |  |  |  |  |  |  |  |  |
Performance RSUs |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Weighted average period for unrecognized compensation expense expected to be recognized |  | 2 years 2 months 12 days |  |  |  |  |  |  |  |  |  |  |  |  |
Awards outstanding (in shares) |  | 919,456 | 528,724 | 353,556 |  |  |  |  |  |  | 1,722,551 |  |  |  |
Recognized compensation expense | $ |  | $ 3,000,000 | $ 1,300,000 | $ 700,000 |  |  |  |  |  |  |  |  |  |  |
Unrecognized compensation expense | $ |  | $ 6,800,000 |  |  |  |  |  |  |  |  |  |  |  |  |
Vesting service period |  | 3 years |  |  |  |  |  |  |  |  |  |  |  |  |
Number of previously issued awards cancelled that did not meet criteria for vesting (in shares) |  | 61,683 | 19,252 | 1,722,551 |  |  |  |  |  |  |  |  |  |  |
Performance RSUs | Minimum |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Vesting service percentage |  | 0.00% |  |  |  |  |  |  |  |  |  |  |  |  |
Performance RSUs | Maximum |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Vesting service percentage |  | 133.00% |  |  |  |  |  |  |  |  |  |  |  |  |
Stock options |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Unrecognized compensation expense related to options outstanding | $ |  | $ 300,000 |  |  |  |  |  |  |  |  |  |  |  |  |
Weighted average period for unrecognized compensation expense expected to be recognized |  | 1 year |  |  |  |  |  |  |  |  |  |  |  |  |
Recognized compensation expense | $ |  | $ 500,000 | $ 700,000 | $ 700,000 |  |  |  |  |  |  |  |  |  |  |
Performance options | Chief Executive Officer |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of common stock reserved for future grants (in shares) | 800,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Recognized compensation expense | $ |  | $ 100,000 | 800,000 |  |  |  |  |  |  |  |  |  |  |  |
Vesting service period | 3 years |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exercise price per share (in dollars per share) | $ / shares | $ 9.50 |  |  |  |  |  |  |  |  |  |  |  |  |  |
2020 Plan |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock reserved for issuance (in shares) |  |  |  |  |  |  |  |  | 4,500,000 |  |  |  |  |  |
Number of common stock reserved for future grants (in shares) |  | 1,477,769 |  |  |  |  |  |  |  |  |  |  |  |  |
2020 Plan | RSUs |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Awards outstanding (in shares) |  | 1,494,178 |  |  |  |  |  |  |  |  |  |  |  |  |
2020 Plan | Performance RSUs |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Awards outstanding (in shares) |  | 919,456 |  |  |  |  |  |  |  |  |  |  |  |  |
Prior Plans |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Options to purchase common stock outstanding (in shares) |  | 471,303 |  |  |  |  |  |  |  |  |  |  |  |  |
Prior Plans | RSUs |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock reserved for issuance (in shares) |  |  |  |  |  |  |  |  | 107,903 |  |  |  |  |  |
Awards outstanding (in shares) |  | 401,350 |  |  |  |  |  |  |  |  |  |  |  |  |
ESPP |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock reserved for issuance (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  | 1,000,000 |
Number of common stock reserved for future grants (in shares) |  | 391,771 |  |  |  |  |  |  |  |  |  |  |  |  |
Shares issued under the plan (in shares) |  | 608,229 |  |  |  |  |  |  |  |  |  |  |  |  |
Recognized compensation expense | $ |  | $ 400,000 | $ 600,000 | $ 400,000 |  |  |  |  |  |  |  |  |  |  |
ESPP | Minimum |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Discount rate from market price purchase date |  | 0.15 |  |  |  |  |  |  |  |  |  |  |  |  |
ESPP | Maximum |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Discount rate from market price offering date |  | 15.00% |  |  |  |  |  |  |  |  |  |  |  |  |
Director Plan |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock reserved for issuance (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 1,500,000
Number of common stock reserved for future grants (in shares) |  | 144,412 |  |  |  |  |  |  |  |  |  |  |  |  |
Director Plan | RSUs |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Options to purchase common stock outstanding (in shares) |  | 259,513 |  |  |  |  |  |  |  |  |  |  |  |  |

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