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Stock-Based Compensation (Details)
3 Months Ended
Nov. 12, 2020
shares
Nov. 15, 2018
shares
Feb. 02, 2018
shares
Sep. 27, 2010
$ / shares
shares
Nov. 21, 2006
$ / shares
shares
Sep. 30, 2021
USD ($)
installment
$ / shares
shares
Sep. 30, 2020
USD ($)
shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Stock based compensation reflected in additional paid in capital | $           $ 600,000 $ 500,000
Decrease in share-based compensation included in other accrued expenses | $             $ 100,000
2007 Long-Term Incentive Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Number of shares authorized (in shares)         1,400,000    
Right to purchase common stock, minimum price (USD per share) | $ / shares         $ 9.45    
Contractual term of stock options granted         10 years    
Options outstanding, net of awards expired (in shares)           3,000  
2007 Long-Term Incentive Plan | Minimum              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Share based payment award, vesting period         1 year    
2007 Long-Term Incentive Plan | Maximum              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Share based payment award, vesting period         3 years    
2010 Long-Term Incentive Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Number of shares authorized (in shares)     475,000 1,000,000      
Contractual term of stock options granted       10 years      
Options outstanding, net of awards expired (in shares)           27,000  
2010 Long-Term Incentive Plan | Minimum              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Right to purchase common stock, minimum price (USD per share) | $ / shares       $ 9.31      
Share based payment award, vesting period       1 year      
2010 Long-Term Incentive Plan | Maximum              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Right to purchase common stock, minimum price (USD per share) | $ / shares       $ 20.09      
Share based payment award, vesting period       4 years      
2017 Long-Term Incentive Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Number of shares authorized (in shares)           2,900,000  
Share based payment award, vesting period           3 years  
Options outstanding, net of awards expired (in shares)           100,000  
Number of additional shares authorized (in shares) 650,000 715,000 425,000        
Right to purchase common stock, non-vested and outstanding, exercise price (USD per share) | $ / shares           $ 4.44  
2017 Long-Term Incentive Plan Excluding 2010 Long-Term Incentive Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Number of shares authorized (in shares)     2,440,000        
Employee Stock Purchase Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Common Stock, capital shares reserved for future issuance (in shares)           400,000  
Shares available for issuance under the ESPP (in shares)           300,000  
Purchase price of common stock (in percentage)           85.00%  
Maximum employee subscription rate (in percentage)           15.00%  
Maximum number of shares per employee (in shares)           3,000  
Amount in excess of fair market value of stock for option not to be granted | $           $ 25,000  
Offering period           6 months  
Common stock issued under employee stock purchase plan (in shares)           27,000 23,000
Performance Shares | 2018 Performance Plan              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Share based payment award, vesting period           3 years  
Shares issued (in shares)           0  
Number of vesting installments | installment           3