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Revenue Recognition - Narrative (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Disaggregation of Revenue [Line Items]      
Customer deposits $ 2,100 $ 1,900  
Performance obligations $ 13,584 20,046 $ 11,082
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-01-01      
Disaggregation of Revenue [Line Items]      
Performance obligations, period 60 months    
Performance obligations, percentage 100.00%    
Non-current over one year      
Disaggregation of Revenue [Line Items]      
Performance obligations $ 5,125 7,597  
Non-current over one year | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-01-01      
Disaggregation of Revenue [Line Items]      
Performance obligations, period 36 months    
Subscription service      
Disaggregation of Revenue [Line Items]      
Support contract timing 12 months    
Professional service      
Disaggregation of Revenue [Line Items]      
Support contract timing 12 months    
Restaurant/Retail      
Disaggregation of Revenue [Line Items]      
Recognition of deferred revenue $ 13,800 8,000  
Restaurant/Retail | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-01-01      
Disaggregation of Revenue [Line Items]      
Performance obligations, period 1 year    
Performance obligations, percentage 62.00%    
Restaurant/Retail | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-01-01      
Disaggregation of Revenue [Line Items]      
Performance obligations, period 48 months    
Performance obligations, percentage 38.00%    
Restaurant/Retail | Non-current over one year      
Disaggregation of Revenue [Line Items]      
Performance obligations $ 5,125 7,597  
Government      
Disaggregation of Revenue [Line Items]      
Performance obligations 333,939 195,300  
Funded performance obligations $ 86,500 38,600  
Government | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-01-01      
Disaggregation of Revenue [Line Items]      
Performance obligations, period 1 year    
Performance obligations $ 77,832    
Government | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-01-01      
Disaggregation of Revenue [Line Items]      
Performance obligations, period 1 year    
Performance obligations $ 81,824    
Government | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2025-01-01      
Disaggregation of Revenue [Line Items]      
Performance obligations, period 1 year    
Performance obligations $ 157,459    
Government | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2026-01-01      
Disaggregation of Revenue [Line Items]      
Performance obligations, period    
Performance obligations $ 16,824    
Government | Non-current over one year      
Disaggregation of Revenue [Line Items]      
Performance obligations $ 0 $ 0  
Minimum | Subscription service      
Disaggregation of Revenue [Line Items]      
Payment period 12 months    
Minimum | Restaurant/Retail      
Disaggregation of Revenue [Line Items]      
Payment period 30 days    
Minimum | Government      
Disaggregation of Revenue [Line Items]      
Payment period 30 days    
Maximum | Subscription service      
Disaggregation of Revenue [Line Items]      
Payment period 36 months    
Maximum | Restaurant/Retail      
Disaggregation of Revenue [Line Items]      
Payment period 90 days    
Maximum | Government      
Disaggregation of Revenue [Line Items]      
Payment period 90 days