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Equity and Stock-Based Compensation - Summary of Stock Options Outstanding and Exercisable (Details) - $ / shares
12 Months Ended
Sep. 30, 2019
Sep. 30, 2018
Sep. 30, 2017
Sep. 30, 2016
Options Outstanding        
Number Outstanding 1,068,665      
Stock Options        
Options Outstanding        
Number Outstanding 1,068,665 1,248,758 1,560,441 1,841,567
Remaining Contractual Life 4 years 10 months 13 days      
Weighted Average Exercise Price Per Share $ 7.04 $ 7.69 $ 7.95 $ 8.15
Options Exercisable        
Number Exercisable 842,083 1,014,300 1,055,865  
Weighted Average Exercise Price Per Share $ 7.45 $ 7.93 $ 8.58  
Stock Options | 2.95-4.85        
Options Outstanding        
Range of Exercise Prices, Lower limit 2.95      
Range of Exercise Prices, Upper limit $ 4.85      
Number Outstanding 116,430      
Remaining Contractual Life 6 years 2 months 19 days      
Weighted Average Exercise Price Per Share $ 3.95      
Options Exercisable        
Number Exercisable 45,750      
Weighted Average Exercise Price Per Share $ 5.00      
Stock Options | 4.87-5.07        
Options Outstanding        
Range of Exercise Prices, Lower limit 4.87      
Range of Exercise Prices, Upper limit $ 5.07      
Number Outstanding 60,750      
Remaining Contractual Life 6 years 11 months 8 days      
Weighted Average Exercise Price Per Share $ 5.02      
Options Exercisable        
Number Exercisable 91,430      
Weighted Average Exercise Price Per Share $ 3.73      
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 168,674      
Remaining Contractual Life 4 years 1 month 13 days      
Weighted Average Exercise Price Per Share $ 5.25      
Options Exercisable        
Number Exercisable 147,424      
Weighted Average Exercise Price Per Share $ 5.25      
Stock Options | 5.40-5.40        
Options Outstanding        
Range of Exercise Prices, Lower limit 5.40      
Range of Exercise Prices, Upper limit $ 5.40      
Number Outstanding 6,000      
Remaining Contractual Life 6 years 3 months 14 days      
Weighted Average Exercise Price Per Share $ 5.40      
Options Exercisable        
Number Exercisable 6,000      
Weighted Average Exercise Price Per Share $ 5.40      
Stock Options | 5.52-5.52        
Options Outstanding        
Range of Exercise Prices, Lower limit 5.52      
Range of Exercise Prices, Upper limit $ 5.52      
Number Outstanding 152,000      
Remaining Contractual Life 9 years 1 month 28 days      
Weighted Average Exercise Price Per Share $ 5.52      
Stock Options | 5.75-6.15        
Options Outstanding        
Range of Exercise Prices, Lower limit 5.75      
Range of Exercise Prices, Upper limit $ 6.15      
Number Outstanding 68,469      
Remaining Contractual Life 3 years 6 months      
Weighted Average Exercise Price Per Share $ 5.96      
Options Exercisable        
Number Exercisable 68,469      
Weighted Average Exercise Price Per Share $ 5.96      
Stock Options | 7.01-7.01        
Options Outstanding        
Range of Exercise Prices, Lower limit 7.01      
Range of Exercise Prices, Upper limit $ 7.01      
Number Outstanding 133,250      
Remaining Contractual Life 2 years 8 months 19 days      
Weighted Average Exercise Price Per Share $ 7.01      
Options Exercisable        
Number Exercisable 133,250      
Weighted Average Exercise Price Per Share $ 7.01      
Stock Options | 7.15-7.98        
Options Outstanding        
Range of Exercise Prices, Lower limit 7.15      
Range of Exercise Prices, Upper limit $ 7.98      
Number Outstanding 143,976      
Remaining Contractual Life 4 years 1 month 2 days      
Weighted Average Exercise Price Per Share $ 7.75      
Options Exercisable        
Number Exercisable 130,644      
Weighted Average Exercise Price Per Share $ 7.79      
Stock Options | 8.20-9.94        
Options Outstanding        
Range of Exercise Prices, Lower limit 8.2      
Range of Exercise Prices, Upper limit $ 9.94      
Number Outstanding 18,428      
Remaining Contractual Life 2 years 7 months 2 days      
Weighted Average Exercise Price Per Share $ 9.33      
Options Exercisable        
Number Exercisable 18,428      
Weighted Average Exercise Price Per Share $ 9.33      
Stock Options | 9.98-22.26        
Options Outstanding        
Range of Exercise Prices, Lower limit 9.98      
Range of Exercise Prices, Upper limit $ 22.26      
Number Outstanding 200,688      
Remaining Contractual Life 3 years 5 months 8 days      
Weighted Average Exercise Price Per Share $ 11.79      
Options Exercisable        
Number Exercisable 200,688      
Weighted Average Exercise Price Per Share $ 11.79