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Stockholders' Equity - Schedule of Stockholders' Equity (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Mar. 31, 2023
Dec. 31, 2022
Mar. 31, 2022
Dec. 31, 2021
Mar. 31, 2023
Mar. 31, 2022
Increase (Decrease) in Stockholders' Equity            
Balance (in shares)   35,724,057     35,724,057  
Balance $ 154,953 $ 154,536 $ 137,079 $ 135,015 $ 154,536 $ 135,015
Balance (in shares)   3,813,199     3,813,199  
Net income 4,245 $ 3,967 11,970 3,602 $ 8,211 $ 15,572
Exercise of common stock options, grants of restricted stock awards, and vesting of restricted stock units   495   1    
Taxes paid associated with net settlement of stock compensation awards (492) (244) (958) (851)    
Common stock repurchased (9,814) (7,199) (17,035) (2,963)    
Common stock surrendered in the exercise of stock options (in shares)         (1,420) (4,678)
Stock compensation expense $ 1,939 2,126 2,102 2,270    
Foreign currency translation and other     (169) 5    
Balance (in shares) 36,049,719       36,049,719  
Balance $ 151,074 $ 154,953 $ 132,989 $ 137,079 $ 151,074 $ 132,989
Balance (in shares) 5,096,341       5,096,341  
Common Stock            
Increase (Decrease) in Stockholders' Equity            
Balance (in shares) 35,899,640 35,724,057 35,533,071 35,457,095 35,724,057 35,457,095
Balance $ 36 $ 36 $ 36 $ 35 $ 36 $ 35
Exercise of common stock options, grants of restricted stock awards, and vesting of restricted stock units (in shares) 184,791 190,119 320,943 131,070    
Exercise of common stock options, grants of restricted stock awards, and vesting of restricted stock units       $ 1    
Taxes paid associated with net settlement of stock compensation awards (in shares) (34,713) (14,536) (47,124) (40,239)    
Forfeiture of restricted stock awards (in shares)     (242,902) (14,855)    
Balance (in shares) 36,049,718 35,899,640 35,563,988 35,533,071 36,049,718 35,563,988
Balance $ 36 $ 36 $ 36 $ 36 $ 36 $ 36
Additional Paid-in Capital            
Increase (Decrease) in Stockholders' Equity            
Balance 260,653 258,275 253,536 252,017 258,275 252,017
Exercise of common stock options, grants of restricted stock awards, and vesting of restricted stock units   495        
Taxes paid associated with net settlement of stock compensation awards (492) (244) (958) (851)    
Common stock surrendered in the exercise of stock options       100    
Stock compensation expense 1,939 2,126 2,102 2,270    
Balance 262,118 260,653 $ 254,680 $ 253,536 262,118 $ 254,680
Treasury Stock            
Increase (Decrease) in Stockholders' Equity            
Balance $ (69,754) $ (62,554)     $ (62,554)  
Balance (in shares) (4,345,018) (3,813,199) (2,373,946) (2,222,083) (3,813,199) (2,222,083)
Balance     $ (39,691) $ (36,628)   $ (36,628)
Common stock repurchased (in shares) (749,903) (531,819) (1,011,881) (147,185)    
Common stock repurchased $ (9,814) $ (7,199) $ (17,035) $ (2,963)    
Common stock surrendered in the exercise of stock options       $ (100)    
Common stock surrendered in the exercise of stock options (in shares)       (4,678)    
Balance $ (79,586) $ (69,754)     $ (79,586)  
Balance (in shares) (5,096,341) (4,345,018) (3,385,827) (2,373,946) (5,096,341) (3,385,827)
Balance     $ (56,726) $ (39,691)   $ (56,726)
Accumulated Other Comprehensive Loss            
Increase (Decrease) in Stockholders' Equity            
Balance $ (9,012) $ (10,285) (9,142) (9,011) $ (10,285) (9,011)
Foreign currency translation and other     (169) (131)    
Balance (8,769) (9,012) (9,311) (9,142) (8,769) (9,311)
Retained Earnings [Member]            
Increase (Decrease) in Stockholders' Equity            
Balance (26,970) (30,936) (67,660) (71,398) (30,936) (71,398)
Net income 4,245 3,967 11,970 3,602    
Foreign currency translation and other       136    
Balance $ (22,725) $ (26,970) $ (55,690) $ (67,660) $ (22,725) $ (55,690)