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Equity and Stock-Based Compensation - Summary of Stock Options Outstanding and Exercisable (Details) - $ / shares
12 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2018
Options Outstanding        
Number Outstanding 608,269      
Stock Options        
Options Outstanding        
Number Outstanding 608,269 696,665 1,068,665 1,248,758
Remaining Contractual Life 6 years 2 months 12 days      
Weighted Average Exercise Price Per Share $ 6.48 $ 7.00 $ 7.04 $ 7.69
Options Exercisable        
Number Exercisable 403,853 611,542 842,083  
Weighted Average Exercise Price Per Share $ 6.87 $ 7.19 $ 7.45  
Stock Options | 2.95-4.90        
Options Outstanding        
Range of Exercise Prices, Lower limit 2.95      
Range of Exercise Prices, Upper limit $ 4.90      
Number Outstanding 77,750      
Remaining Contractual Life 6 years 7 months 2 days      
Weighted Average Exercise Price Per Share $ 4.63      
Options Exercisable        
Number Exercisable 71,084      
Weighted Average Exercise Price Per Share $ 4.61      
Stock Options | 5.07-5.07        
Options Outstanding        
Range of Exercise Prices, Lower limit 5.07      
Range of Exercise Prices, Upper limit $ 5.07      
Number Outstanding 2,800      
Remaining Contractual Life 5 years 1 month 17 days      
Weighted Average Exercise Price Per Share $ 5.07      
Options Exercisable        
Number Exercisable 2,800      
Weighted Average Exercise Price Per Share $ 5.07      
Stock Options | 5.25-5.25        
Options Outstanding        
Range of Exercise Prices, Lower limit 5.25      
Range of Exercise Prices, Upper limit $ 5.25      
Number Outstanding 69,175      
Remaining Contractual Life 4 years 1 month 2 days      
Weighted Average Exercise Price Per Share $ 5.25      
Options Exercisable        
Number Exercisable 69,175      
Weighted Average Exercise Price Per Share $ 5.25      
Stock Options | 5.26-5.52        
Options Outstanding        
Range of Exercise Prices, Lower limit 5.26      
Range of Exercise Prices, Upper limit $ 5.52      
Number Outstanding 88,375      
Remaining Contractual Life 7 years 6 months 21 days      
Weighted Average Exercise Price Per Share $ 5.43      
Options Exercisable        
Number Exercisable 42,375      
Weighted Average Exercise Price Per Share $ 5.50      
Stock Options | 5.67-5.67        
Options Outstanding        
Range of Exercise Prices, Lower limit 5.67      
Range of Exercise Prices, Upper limit $ 5.67      
Number Outstanding 141,500      
Remaining Contractual Life 9 years 1 month 17 days      
Weighted Average Exercise Price Per Share $ 5.67      
Stock Options | 5.75-7.01        
Options Outstanding        
Range of Exercise Prices, Lower limit 5.75      
Range of Exercise Prices, Upper limit $ 7.01      
Number Outstanding 83,250      
Remaining Contractual Life 3 years 5 months 15 days      
Weighted Average Exercise Price Per Share $ 6.70      
Options Exercisable        
Number Exercisable 79,000      
Weighted Average Exercise Price Per Share $ 6.70      
Stock Options | 7.40-7.98        
Options Outstanding        
Range of Exercise Prices, Lower limit 7.40      
Range of Exercise Prices, Upper limit $ 7.98      
Number Outstanding 47,919      
Remaining Contractual Life 5 years 3 months 10 days      
Weighted Average Exercise Price Per Share $ 7.51      
Options Exercisable        
Number Exercisable 47,919      
Weighted Average Exercise Price Per Share $ 7.51      
Stock Options | 9.98-9.98        
Options Outstanding        
Range of Exercise Prices, Lower limit 9.98      
Range of Exercise Prices, Upper limit $ 9.98      
Number Outstanding 67,500      
Remaining Contractual Life 3 years 1 month 20 days      
Weighted Average Exercise Price Per Share $ 9.98      
Options Exercisable        
Number Exercisable 67,500      
Weighted Average Exercise Price Per Share $ 9.98      
Stock Options | 9.99-10.71        
Options Outstanding        
Range of Exercise Prices, Lower limit 9.99      
Range of Exercise Prices, Upper limit $ 10.71      
Number Outstanding 12,000      
Remaining Contractual Life 6 years 8 months 12 days      
Weighted Average Exercise Price Per Share $ 10.35      
Options Exercisable        
Number Exercisable 6,000      
Weighted Average Exercise Price Per Share $ 10.71      
Stock Options | 11.51-11.51        
Options Outstanding        
Range of Exercise Prices, Lower limit 11.51      
Range of Exercise Prices, Upper limit $ 11.51      
Number Outstanding 18,000      
Remaining Contractual Life 9 years 5 months 23 days      
Weighted Average Exercise Price Per Share $ 11.51      
Options Exercisable        
Number Exercisable 18,000      
Weighted Average Exercise Price Per Share $ 11.51