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Fair Value of Financial Instruments - Narrative (Details) - USD ($)
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]      
Amounts owed to employees participating in the deferred compensation plan $ 2,800,000 $ 3,200,000  
Contingent consideration liability 0    
Change in fair value of contingent consideration 3,340,000 0 $ 450,000
AccSys LLC (Restaurant Magic)      
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]      
Contingent consideration liability 0 3,300,000  
Change in fair value of contingent consideration 3,300,000    
Fair Value, Inputs, Level 2 | Convertible Debt | Convertible Senior Notes Due 2024      
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]      
Fair value of notes 30,600,000 $ 102,300,000  
Fair Value, Inputs, Level 2 | Convertible Debt | Convertible Senior Notes Due 2026      
Fair Value, Liabilities Measured on Recurring Basis, Unobservable Input Reconciliation [Line Items]      
Fair value of notes $ 195,400,000