Stock-Based Compensation - Narrative (Details) (USD $)	3 Months Ended	6 Months Ended	9 Months Ended				9 Months Ended								9 Months Ended							0 Months Ended			12 Months Ended			9 Months Ended	0 Months Ended	1 Months Ended
	Mar. 31, 2012	Mar. 30, 2013 equity_compensation_plan	Mar. 30, 2013 equity_compensation_plan	Mar. 31, 2012	May 10, 2013	Jun. 30, 2012	Mar. 30, 2013 Stock Options [Member]	Mar. 30, 2013 ESPP [Member]	Mar. 30, 2013 Restricted Stock and RSU [Member]	Mar. 30, 2013 Restricted Stock Units (RSUs) [Member] April 2009 Grant [Member]	Mar. 30, 2013 1993 Stock Option Plan [Member]	Mar. 30, 2013 1995 Director Stock Option Plan [Member]	Mar. 30, 2013 2001 Stock Option Plan [Member]	Mar. 30, 2013 2004 Director Option Plan [Member]	Mar. 30, 2013 2005 Equity Incentive Plan [Member]	Mar. 30, 2013 2005 Equity Incentive Plan [Member] Restricted Stock and RSU [Member]	Mar. 30, 2013 Director Option Plan [Member] Initial Director Grant [Member] Prior to March 2010 [Member]	Mar. 30, 2013 Director Option Plan [Member] Initial Director Grant [Member] From March 2010 [Member]	Mar. 30, 2013 Director Option Plan [Member] Annual Non-Employee Director Grant [Member] Prior to March 2010 [Member]	Mar. 30, 2013 Director Option Plan [Member] Annual Non-Employee Director Grant [Member] From March 2010 [Member]	Mar. 30, 2013 Director Option Plan [Member] March 2010 One-time Grant [Member]	Jun. 25, 2012 Unregistered Restricted Stock Outside of Stock Plans [Member] MobileRobots [Member]	Jun. 25, 2011 Unregistered Restricted Stock Outside of Stock Plans [Member] MobileRobots [Member]	Apr. 15, 2011 Unregistered Restricted Stock Outside of Stock Plans [Member] MobileRobots [Member]	Jun. 30, 2012 Unregistered Restricted Stock Outside of Stock Plans [Member] MobileRobots [Member]	Mar. 30, 2013 Unregistered Restricted Stock Outside of Stock Plans [Member] MobileRobots [Member]	Jun. 30, 2010 Unregistered Restricted Stock Outside of Stock Plans [Member] MobileRobots [Member]	Mar. 30, 2013 2008 ESPP [Member]	Jun. 30, 2012 Common Stock [Member] InMoTx, Inc. [Member]	Dec. 31, 2011 Common Stock [Member] InMoTx, Inc. [Member]	Mar. 30, 2013 Common Stock [Member] Unregistered Restricted Stock Outside of Stock Plans [Member]	Jun. 25, 2010 Common Stock [Member] Unregistered Restricted Stock Outside of Stock Plans [Member] MobileRobots [Member]	Jan. 10, 2011 Common Stock [Member] Unregistered Restricted Stock Outside of Stock Plans [Member] InMoTx, Inc. [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock option contractual term							10 years
Discount percentage, ESPP								15.00%
Plan-defined purchase date intervals								6 months
Equity compensation plans, number		2	2
Expired equity compensation plans, number		4	4
Subject to Oustanding Options and Restricted Stock - Options		1,135,000	1,135,000			1,473,000					8,855	600	49,500	107,000
Award vesting period							4 years			6 months						2 years			4 years
Annual option grants																		10,000		6,000
Award annual vesting percentage																		50.00%
Award vesting percentage after one year																	25.00%				100.00%
Remaining equal vesting years after first anniversary																	3 years
Stock-based compensation			$ 670,000	$ 1,005,000
Weighted average grant-date fair value of the options	$ 2.52		$ 2.33
Assumed annualized forfeiture rate		5.00%		5.00%
Options Granted			369,000
Total unrecognized compensation cost related to non-vested stock options granted and outstanding		$ 1,011,421	$ 1,011,421
Options outstanding, weighted average remaining contractual life							1 year 4 months 2 days		10 months 17 days
Shares of unregistered restricted stock issued outside of equity incentive plans in connection with acquisitions, total																									7,603	7,603	368,956				468,956	368,956	100,000
Shares of restricted stock with accelerated vesting, related to acquisition																								173,074	115,383
Shares of restricted stock vested, related to acquisition															37,546							7,603	65,293						19,500
Stock Issued During Period, Shares, Employee Stock Purchase Plans																												35,646
Shares of restricted stock forfeited, related to acquisition															(103,176)															(80,500)
Common stock, shares outstanding		10,727,918	10,727,918		10,865,597	10,529,000