Revenue Recognition - Narrative (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022	Dec. 31, 2021
Disaggregation of Revenue [Line Items]
Customer deposits excluded from performance obligations			$ 2,000	$ 1,700
Performance obligations	$ 12,399	$ 16,833	12,399	16,833	$ 13,584	$ 20,046
Restaurant/Retail
Disaggregation of Revenue [Line Items]
Recognition of deferred revenue	2,700	$ 3,100	8,700	$ 12,700
Government
Disaggregation of Revenue [Line Items]
Performance obligations	327,485		327,485		333,900
Funded performance obligations	88,300		88,300		86,500
Non-current over one year
Disaggregation of Revenue [Line Items]
Performance obligations	4,329		4,329		5,125
Non-current over one year | Restaurant/Retail
Disaggregation of Revenue [Line Items]
Performance obligations	4,329		4,329		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]: 2023-10-01
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]: 2023-10-01 | Restaurant/Retail
Disaggregation of Revenue [Line Items]
Performance obligation, percentage	65.00%		65.00%
Performance obligations, period	12 months		12 months
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-10-01 | Government
Disaggregation of Revenue [Line Items]
Performance obligations, period	1 year		1 year
Performance obligations	$ 169,076		$ 169,076
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-10-01 | 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]: 2024-10-01 | 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]: 2024-10-01 | Government
Disaggregation of Revenue [Line Items]
Performance obligations, period	1 year		1 year
Performance obligations	$ 127,274		$ 127,274
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2025-10-01 | Government
Disaggregation of Revenue [Line Items]
Performance obligations, period	1 year		1 year
Performance obligations	$ 16,631		$ 16,631
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2026-10-01 | Government
Disaggregation of Revenue [Line Items]
Performance obligations, period
Performance obligations	$ 14,504		$ 14,504