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Equity and Stock-Based Compensation - Additional Information (Details) - USD ($) |  |  |  | 3 Months Ended | 12 Months Ended | 84 Months Ended | 120 Months Ended |
--- | --- | --- | --- | --- | --- | --- | --- | ---
Feb. 10, 2020 | Nov. 29, 2018 | Mar. 28, 2018 | Mar. 31, 2020 | Dec. 31, 2019 | Sep. 30, 2020 | Sep. 30, 2019 | Sep. 30, 2018 | Dec. 31, 1996 | Dec. 31, 2015 | Dec. 31, 2014 | Apr. 30, 2007
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Common stock, par value |  |  |  |  |  | $ 0.01 | $ 0.01 |  |  |  |  |
Stock-based compensation expense |  |  |  |  |  | $ 326,000 | $ 573,000 | $ 855,000 |  |  |  |
Compensation cost on non-vested stock options not yet recognized |  |  |  |  |  | $ 100,000 |  |  |  |  |  |
Compensation cost, expected weighted-average recognition period |  |  |  |  |  | 1 year 18 days |  |  |  |  |  |
Shares available to grant |  |  |  |  |  | 1,167,678 |  |  |  |  |  |
2007 Employee Stock Incentive Plan |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Shares available to grant |  |  |  |  |  | 1,083,744 |  |  |  |  |  |
2007 Employee Stock Incentive Plan | Stock Options |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Shares available to grant |  |  |  |  |  |  |  |  |  |  |  | 500,000
Number of additional shares authorized |  |  |  |  |  |  |  |  |  | 2,500,000 |  |
Non-Employee Directors Stock Option Plan |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Shares available to grant |  |  |  |  |  | 83,934 |  |  |  |  |  |
Non-Employee Directors Stock Option Plan | Stock Options |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Number of additional shares authorized |  |  |  |  |  |  |  |  |  |  | 400,000 |
Share-based compensation, shares issued |  |  |  |  |  |  |  |  | 100,000 |  |  |
2018 Stock Repurchase Plan |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Stock repurchase program period |  |  | 1 year |  |  |  |  |  |  |  |  |
Authorized stock repurchase amount |  |  | $ 4,000,000 |  |  |  |  |  |  |  |  |
Common stock, par value |  |  | $ 0.01 |  |  |  |  |  |  |  |  |
Shares repurchased and retired during the period |  |  |  |  |  |  |  | 771,149 |  |  |  |
Total cost of shares repurchased and retired |  |  |  |  |  |  |  | $ 4,000,000.0 |  |  |  |
Average price per share of shares repurchased |  |  |  |  |  |  |  | $ 5.19 |  |  |  |
2019 Stock Repurchase Plan |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Stock repurchase program period |  | 1 year |  |  |  |  |  |  |  |  |  |
Authorized stock repurchase amount |  | $ 4,000,000 |  |  |  |  |  |  |  |  |  |
Common stock, par value |  | $ 0.01 |  |  |  |  |  |  |  |  |  |
Shares repurchased and retired during the period |  |  |  |  | 0 |  |  |  |  |  |  |
2020 Stock Repurchase Plan |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |
Stock repurchase program period | 1 year |  |  |  |  |  |  |  |  |  |  |
Authorized stock repurchase amount | $ 4,000,000 |  |  |  |  |  |  |  |  |  |  |
Shares repurchased and retired during the period |  |  |  | 366,000 |  |  |  |  |  |  |  |
Total cost of shares repurchased and retired |  |  |  | $ 2,000,000.0 |  |  |  |  |  |  |  |
Average price per share of shares repurchased |  |  |  | $ 5.46 |  |  |  |  |  |  |  |
Remaining amount under repurchase program |  |  |  |  |  | $ 2,000,000 |  |  |  |  |  |

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