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Equity Incentive Plans - Employee Stock Purchase Plan (Details) - Employee Stock - shares
12 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Purchase price of common stock (as a percent) 85.00%  
Shares authorized (in shares) 1,250,000  
Shares available for grant (in shares) 858,687  
Shares issued under employee stock purchase plan (in shares) 133,597 131,042