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Stockholders' Equity - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended 6 Months Ended
Oct. 26, 2021
Sep. 20, 2021
Oct. 26, 2020
Oct. 23, 2018
Aug. 11, 2014
Jan. 27, 2020
Sep. 30, 2022
Jun. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Mar. 31, 2022
Oct. 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             1,366,713     1,366,713   1,453,739          
Total share-based compensation             $ 8,687,000   $ 5,223,000 $ 17,453,000 $ 11,635,000            
Fair value of options vested                   $ 314,000 1,461,000            
Stock repurchase program, authorized amount                         $ 60,000,000        
Stock repurchased during period, shares             428,297                    
Stock repurchased during period, value             $ 7,373,000 [1] $ 2,505,000 [2]                  
Weighted-average share repurchase price             $ 17.21 $ 16.93                  
Stock repurchased available during period value             $ 14,303,000                    
Employee Stock Options                                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                                  
Outstanding stock options             1,332,613     1,332,613              
Total share-based compensation             $ 13,000   290,000 $ 79,000 999,000            
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             2,713,042     2,713,042              
Performance Stock Units                                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                                  
Total unrecognized compensation costs             $ 7,705,000     $ 7,705,000              
Stock option recognized over weighted average period (in years)             1 year 8 months 12 days                    
Performance Stock Units | Units Granted on September 2021                                  
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   450,000                              
Weighted-average grant date fair value   $ 10.52                              
Performance period   5 years                              
Award continued service period   3 years                              
Shares earned and issued in period   24,334                              
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                            
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%                            
Performance Stock Units | Units Granted on October 2021                                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                                  
Total share-based compensation             $ 2,172,000   915,000 $ 4,374,000 (42,000)            
Share-based compensation arrangement by share-based payment award, options, grants in period, net of forfeitures 476,713                                
Weighted-average grant date fair value $ 13.02                                
Award continued service period 3 years                                
Shares earned and issued in period 33,998                                
Performance Stock Unit Awards | Units Granted On October 2018                                  
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       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%                          
Performance Stock Unit Awards | Units Granted On December 2019 and January 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           279,587                      
Percentage of shares issued, minimum           42.50%                      
Percentage of shares issued, maximum           172.50%                      
Weighted-average grant date fair value           $ 16.02                      
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                      
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             3,437,877     3,437,877   3,242,763          
Total share-based compensation             $ 6,372,000   3,889,000 $ 12,651,000 10,347,000            
Total unrecognized compensation costs             45,116,000     $ 45,116,000              
Stock option recognized over weighted average period (in years)                   2 years              
Stock awards vested as of vesting             $ 7,114,000   $ 5,540,000 $ 18,205,000 $ 14,210,000            
Share-based compensation arrangement by share-based payment award, options, grants in period, net of forfeitures                   1,361,471              
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              
Restricted Stock Awards and Performance Stock Units                                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                                  
Net share-settled upon vesting             142,751   100,226 345,263 277,544            
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             34,100     34,100              
2005 Employee Stock Option and Incentive Plan | Employee Stock Options                                  
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              
2015 Plan                                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                                  
Common stock reserved for issuance                         1,850,000 3,575,000 6,000,000    
Common stock reserved                               11,500,000  
Shares available for future grant             1,181,861     1,181,861              
2015 Plan | Employee Stock Options                                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                                  
Expiration period (in years)                   10 years              
Inducement Plan                                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                                  
Common stock reserved for issuance             1,500,000     1,500,000              
Shares available for future grant             141,699     141,699              
Inducement Plan | 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             724,835     724,835              
Inducement Plan | Performance Stock Unit Awards                                  
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             425,666     425,666              
Employee Share Purchase Plan                                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                                  
Common stock reserved for issuance         4,000,000   3,023,108     3,023,108              
Total share-based compensation             $ 130,000   $ 129,000 $ 349,000 $ 330,000            
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             976,892     976,892              
[1]

Weighted-average repurchase price (dollars per share) for the three months ended September 30, 2022 was $17.21

[2] Weighted-average repurchase price (dollars per share) for the three months ended June 30, 2022 was $16.93.