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Stockholders' Equity - Narrative (Details) - USD ($) |  | 3 Months Ended | 6 Months Ended |  |  |  |  |
--- | --- | --- | --- | --- | --- | --- | --- | ---
Nov. 06, 2018 | Mar. 31, 2023 | Mar. 31, 2022 | Mar. 31, 2023 | Mar. 31, 2022 | Sep. 30, 2022 | Jun. 15, 2021 | Jan. 31, 2020 | Mar. 07, 2018 | Mar. 10, 2017
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Unrecognized compensation expense related to outstanding stock options and RSUs |  | $ 28,000,000 |  | $ 28,000,000 |  |  |  |  |  |
Weighted average period for unrecognized compensation expense expected to be recognized (in years) |  |  |  | 2 years 7 months 6 days |  |  |  |  |  |
Purchase of common stock (in shares) |  | 664,919 |  | 664,919 |  | 781,092 |  |  |  |
Recognized compensation expense |  | $ 2,704,000 | $ 3,298,000 | $ 5,146,000 | $ 6,429,000 |  |  |  |  |
Total intrinsic value of options exercised |  |  |  | $ 300,000 | $ 200,000 |  |  |  |  |
Options granted (in shares) |  |  |  | 0 | 0 |  |  |  |  |
Amount authorized and approved under share repurchase program |  |  |  |  |  |  | $ 15,000,000 |  |  |
Amount of shares repurchased |  |  | $ 4,700,000 |  | $ 14,800,000 |  |  |  |  |
Number of shares repurchased (in shares) |  |  | 287,568 |  | 886,204 |  |  |  |  |
Average price of shares repurchased (in dollars per share) |  |  | $ 16.29 |  | $ 16.73 |  |  |  |  |
Minimum |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Discount rate from market price, purchase date |  |  |  | 15.00% |  |  |  |  |  |
RSUs |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Weighted average period for unrecognized compensation expense expected to be recognized (in years) |  |  |  | 2 years 9 months 18 days |  |  |  |  |  |
Awards outstanding (in shares) |  | 2,302,023 |  | 2,302,023 |  | 2,441,677 |  |  |  |
Recognized compensation expense |  | $ 1,900,000 | $ 2,300,000 | $ 3,500,000 | $ 4,600,000 |  |  |  |  |
Unrecognized compensation expense related to nonvested awards |  | $ 20,400,000 |  | $ 20,400,000 |  |  |  |  |  |
Performance RSUs |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Weighted average period for unrecognized compensation expense expected to be recognized (in years) |  |  |  | 2 years |  |  |  |  |  |
Awards outstanding (in shares) |  | 1,014,000 |  | 1,014,000 |  | 919,456 |  |  |  |
Recognized compensation expense |  | $ 700,000 | 700,000 | $ 1,400,000 | 1,200,000 |  |  |  |  |
Unrecognized compensation expense related to nonvested awards |  | 7,300,000 |  | $ 7,300,000 |  |  |  |  |  |
Stock options |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Weighted average period for unrecognized compensation expense expected to be recognized (in years) |  |  |  | 6 months |  |  |  |  |  |
Recognized compensation expense |  | 40,000 | 100,000 | $ 100,000 | 300,000 |  |  |  |  |
Unrecognized compensation expense of stock options |  | 100,000 |  | 100,000 |  |  |  |  |  |
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 |  | $ 0 | 0 | $ 0 | 100,000 |  |  |  |  |
Exercise price per share (in dollars per share) | $ 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) |  | 1,175,939 |  | 1,175,939 |  |  |  |  |  |
2020 Plan | RSUs |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Awards outstanding (in shares) |  | 1,767,884 |  | 1,767,884 |  |  |  |  |  |
2020 Plan | Performance RSUs |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Awards outstanding (in shares) |  | 813,232 |  | 813,232 |  |  |  |  |  |
Prior Plans |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Common stock reserved for issuance (in shares) |  |  |  |  |  |  |  | 107,903 |  |
Purchase of common stock (in shares) |  | 447,740 |  | 447,740 |  |  |  |  |  |
Prior Plans | RSUs |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Awards outstanding (in shares) |  | 115,140 |  | 115,140 |  |  |  |  |  |
ESPP common stock equivalents |  |  |  |  |  |  |  |  |  |
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) |  | 320,636 |  | 320,636 |  |  |  |  |  |
Issuance of common stock under employee stock purchase plan (in shares) |  |  |  | 679,364 |  |  |  |  |  |
Recognized compensation expense |  | $ 49,000 | $ 100,000 | $ 100,000 | $ 300,000 |  |  |  |  |
ESPP common stock equivalents | 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) |  | 0 |  | 0 |  |  |  |  |  |
Director Plan | RSUs |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Purchase of common stock (in shares) |  | 259,513 |  | 259,513 |  |  |  |  |  |

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