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Share Based Awards - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended
Oct. 26, 2020
Oct. 23, 2018
Aug. 11, 2014
Jan. 27, 2020
Jun. 30, 2021
Jun. 30, 2020
Mar. 31, 2021
Aug. 31, 2019
Aug. 31, 2017
Aug. 31, 2015
Oct. 31, 2005
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Outstanding stock options         2,741,384   2,791,084        
Total share-based compensation         $ 6,412,000 $ 5,393,000          
Fair value of options vested         $ 800,000 1,378,000          
2005 Employee Stock Option and Incentive Plan                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Common stock reserved for issuance                     4,800,000
Outstanding stock options         102,520            
2015 Plan                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Common stock reserved for issuance               3,575,000 6,000,000    
Common stock reserved                   11,500,000  
Shares available for future grant         1,592,107            
Employee Share Purchase Plan                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Common stock reserved for issuance     4,000,000   3,208,791            
Total share-based compensation         $ 201,000 164,000          
Maximum percentage of gross payroll deduction     15.00%                
Purchase price as a percentage of fair market value     90.00%                
Maximum shares purchase in a single transaction     1,500                
Maximum amount purchased in a calendar year     $ 25,000                
Shares issued         791,209            
Employee Stock Options                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Outstanding stock options         2,638,864            
Total share-based compensation         $ 709,000 732,000          
Total unrecognized compensation costs         $ 677,000            
Stock option recognized over weighted average period (in years)         6 months            
Employee Stock Options | 2005 Employee Stock Option and Incentive Plan                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Expiration period (in years)         10 years            
Share-based compensation award plan , expiration date         May 25, 2015            
Employee Stock Options | 2015 Plan                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Expiration period (in years)         10 years            
Restricted Stock                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Share-based compensation arrangement by share-based payment award, non-option equity instruments, outstanding, number         2,172,959            
Restricted Stock                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Share-based compensation arrangement by share-based payment award, non-option equity instruments, outstanding, number         2,172,959   2,263,569        
Total share-based compensation         $ 6,458,000 4,039,000          
Stock option recognized over weighted average period (in years)         1 year 10 months 24 days            
Total unrecognized compensation costs         $ 24,148,000            
Share-based compensation arrangement by share-based payment award, options, grants in period, net of forfeitures         548,768            
Restricted Stock | Minimum                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Vesting period         1 year            
Restricted Stock | Maximum                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Vesting period         3 years            
Performance Stock Units                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Stock option recognized over weighted average period (in years)         2 years 1 month 6 days            
Total unrecognized compensation costs         $ 5,223,000            
Performance Stock Units | Units Granted On October 2018                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Total share-based compensation           114,000          
Share-based compensation arrangement by share-based payment award, options, grants in period, net of forfeitures   248,140                  
Percentage of shares issued, minimum   50.00%                  
Percentage of shares issued, maximum   200.00%                  
Weighted-average grant date fair value   $ 17.84                  
Percentage of performance stock units tied to 3-year total shareholder return   34.00%                  
Percentage of performance stock units tied to fiscal year 2021 revenue   33.00%                  
Percentage performance stock units tied to fiscal year 2021 adjusted earnings per share goals   33.00%                  
Allocated share-based compensation benefits         438,000            
Performance Stock Units | Units Granted On December 2019 and January 2020                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Total share-based compensation           $ 281,000          
Share-based compensation arrangement by share-based payment award, options, grants in period, net of forfeitures       279,587              
Percentage of shares issued, minimum       42.50%              
Percentage of shares issued, maximum       172.50%              
Weighted-average grant date fair value       $ 16.02              
Allocated share-based compensation benefits         457,000            
Percentage of performance stock units tied to fiscal year 2021 revenue goal       80.00%              
Percentage of performance stock units tied to fiscal year 2022 revenue goal       20.00%              
Vesting period for the 3-year total shareholder return       3 years              
Performance Stock Units | Units Granted On October 2020                      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                      
Share-based compensation arrangement by share-based payment award, options, grants in period, net of forfeitures 408,861                    
Percentage of shares issued, minimum 8.50%                    
Percentage of shares issued, maximum 199.50%                    
Weighted-average grant date fair value $ 16.25                    
Allocated share-based compensation benefits         $ 61,000            
Percentage of performance stock units tied to fiscal year 2022 revenue goal 80.00%                    
Vesting period for the 3-year total shareholder return 3 years                    
Percentage of performance stock units tied to fiscal year 2023 revenue goal 20.00%