Segment and Related Information - Revenue by Major Customers (Details) - Customer Concentration Risk - Revenue Benchmark	3 Months Ended		6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020
Revenue, Major Customer [Line Items]
Concentration risk, percentage	100.00%	100.00%	100.00%	100.00%
Restaurant/Retail | Dairy Queen
Revenue, Major Customer [Line Items]
Concentration risk, percentage	6.00%	11.00%	7.00%	14.00%
Restaurant/Retail | Yum! Brands, Inc.
Revenue, Major Customer [Line Items]
Concentration risk, percentage	11.00%	10.00%	11.00%	11.00%
Government | U.S. Department of Defense
Revenue, Major Customer [Line Items]
Concentration risk, percentage	26.00%	40.00%	29.00%	35.00%
Government | All Others
Revenue, Major Customer [Line Items]
Concentration risk, percentage	57.00%	39.00%	53.00%	40.00%