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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