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Equity and Stock-Based Compensation - Summary of Stock Options Outstanding and Exercisable (Details) - $ / shares
12 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2018
Sep. 30, 2017
Options Outstanding        
Number Outstanding 696,665      
Stock Options        
Options Outstanding        
Number Outstanding 696,665 1,068,665 1,248,758 1,560,441
Remaining Contractual Life 4 years 8 months 1 day      
Weighted Average Exercise Price Per Share $ 7.00 $ 7.04 $ 7.69 $ 7.95
Options Exercisable        
Number Exercisable 611,542 842,083 1,014,300  
Weighted Average Exercise Price Per Share $ 7.19 $ 7.45 $ 7.93  
Stock Options | 2.95-4.77        
Options Outstanding        
Range of Exercise Prices, Lower limit 2.95      
Range of Exercise Prices, Upper limit $ 4.77      
Number Outstanding 83,500      
Remaining Contractual Life 5 years 3 days      
Weighted Average Exercise Price Per Share $ 4.12      
Options Exercisable        
Number Exercisable 70,168      
Weighted Average Exercise Price Per Share $ 4.00      
Stock Options | 4.85-5.07        
Options Outstanding        
Range of Exercise Prices, Lower limit 4.85      
Range of Exercise Prices, Upper limit $ 5.07      
Number Outstanding 59,350      
Remaining Contractual Life 7 years 5 months 4 days      
Weighted Average Exercise Price Per Share $ 4.95      
Options Exercisable        
Number Exercisable 53,100      
Weighted Average Exercise Price Per Share $ 4.93      
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 85,912      
Remaining Contractual Life 4 years 9 months 21 days      
Weighted Average Exercise Price Per Share $ 5.25      
Options Exercisable        
Number Exercisable 85,912      
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 5 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 100,000      
Remaining Contractual Life 6 years 9 months 18 days      
Weighted Average Exercise Price Per Share $ 5.52      
Options Exercisable        
Number Exercisable 49,625      
Weighted Average Exercise Price Per Share $ 5.52      
Stock Options | 5.75-6.60        
Options Outstanding        
Range of Exercise Prices, Lower limit 5.75      
Range of Exercise Prices, Upper limit $ 6.60      
Number Outstanding 30,500      
Remaining Contractual Life 7 years 2 months 23 days      
Weighted Average Exercise Price Per Share $ 5.99      
Options Exercisable        
Number Exercisable 22,000      
Weighted Average Exercise Price Per Share $ 5.75      
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 70,000      
Remaining Contractual Life 3 years      
Weighted Average Exercise Price Per Share $ 7.01      
Options Exercisable        
Number Exercisable 70,000      
Weighted Average Exercise Price Per Share $ 7.01      
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 123,767      
Remaining Contractual Life 3 years 5 months 12 days      
Weighted Average Exercise Price Per Share $ 7.76      
Options Exercisable        
Number Exercisable 117,101      
Weighted Average Exercise Price Per Share $ 7.78      
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 17,935      
Remaining Contractual Life 1 year 7 months 17 days      
Weighted Average Exercise Price Per Share $ 9.31      
Options Exercisable        
Number Exercisable 17,935      
Weighted Average Exercise Price Per Share $ 9.31      
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 119,701      
Remaining Contractual Life 3 years 2 months 15 days      
Weighted Average Exercise Price Per Share $ 11.72      
Options Exercisable        
Number Exercisable 119,701      
Weighted Average Exercise Price Per Share $ 11.72