Revenue Recognition - Narrative (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022	Dec. 31, 2022	Dec. 31, 2021
Disaggregation of Revenue [Line Items]
Customer deposits excluded from performance obligations			$ 1,600	$ 1,600
Performance obligations	$ 14,154	$ 18,495	14,154	18,495	$ 13,584	$ 20,046
Restaurant/Retail
Disaggregation of Revenue [Line Items]
Recognition of deferred revenue	2,900	$ 5,000	6,000	$ 9,500
Government
Disaggregation of Revenue [Line Items]
Performance obligations	297,041		297,041		333,900
Funded performance obligations	96,600		96,600		86,500
Non-current over one year
Disaggregation of Revenue [Line Items]
Performance obligations	4,359		4,359		5,125
Non-current over one year | Restaurant/Retail
Disaggregation of Revenue [Line Items]
Performance obligations	4,359		4,359		5,125
Non-current over one year | Government
Disaggregation of Revenue [Line Items]
Performance obligations	$ 0		$ 0		$ 0
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-07-01
Disaggregation of Revenue [Line Items]
Performance obligation, percentage	100.00%		100.00%
Performance obligations, period	60 months		60 months
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-07-01 | Restaurant/Retail
Disaggregation of Revenue [Line Items]
Performance obligation, percentage	69.00%		69.00%
Performance obligations, period	12 months		12 months
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-07-01 | Government
Disaggregation of Revenue [Line Items]
Performance obligations, period	1 year		1 year
Performance obligations	$ 156,049		$ 156,049
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-07-01 | Non-current over one year
Disaggregation of Revenue [Line Items]
Performance obligations, period	36 months		36 months
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-07-01 | Restaurant/Retail
Disaggregation of Revenue [Line Items]
Performance obligation, percentage	36.00%		36.00%
Performance obligations, period	48 months		48 months
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-07-01 | Government
Disaggregation of Revenue [Line Items]
Performance obligations, period	1 year		1 year
Performance obligations	$ 98,952		$ 98,952
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2025-07-01 | Government
Disaggregation of Revenue [Line Items]
Performance obligations, period	1 year		1 year
Performance obligations	$ 28,760		$ 28,760
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2026-07-01 | Government
Disaggregation of Revenue [Line Items]
Performance obligations, period
Performance obligations	$ 13,280		$ 13,280