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Revenue Recognition - Narrative (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Dec. 31, 2022
Dec. 31, 2021
Disaggregation of Revenue [Line Items]        
Customer deposits excluded from performance obligations $ 1,600 $ 1,900    
Performance obligations 13,702 20,962 $ 13,584 $ 20,046
Restaurant/Retail        
Disaggregation of Revenue [Line Items]        
Recognition of deferred revenue 3,100 $ 4,500    
Government        
Disaggregation of Revenue [Line Items]        
Performance obligations 324,483   333,900  
Funded performance obligations 86,200   86,500  
Non-current        
Disaggregation of Revenue [Line Items]        
Performance obligations 6,245   5,125  
Non-current | Restaurant/Retail        
Disaggregation of Revenue [Line Items]        
Performance obligations 6,245   5,125  
Non-current | Government        
Disaggregation of Revenue [Line Items]        
Performance obligations $ 0   $ 0  
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-04-01        
Disaggregation of Revenue [Line Items]        
Performance obligation, percentage 100.00%      
Performance obligations, period 60 months      
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-04-01 | Restaurant/Retail        
Disaggregation of Revenue [Line Items]        
Performance obligation, percentage 54.00%      
Performance obligations, period 12 months      
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-04-01 | Government        
Disaggregation of Revenue [Line Items]        
Performance obligations, period 1 year      
Performance obligations $ 153,178      
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-04-01 | Non-current        
Disaggregation of Revenue [Line Items]        
Performance obligations, period 36 months      
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-04-01 | Restaurant/Retail        
Disaggregation of Revenue [Line Items]        
Performance obligation, percentage 36.00%      
Performance obligations, period 48 months      
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-04-01 | Government        
Disaggregation of Revenue [Line Items]        
Performance obligations, period 1 year      
Performance obligations $ 99,762      
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2025-04-01 | Government        
Disaggregation of Revenue [Line Items]        
Performance obligations, period 1 year      
Performance obligations $ 52,747      
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2026-04-01 | Government        
Disaggregation of Revenue [Line Items]        
Performance obligations, period      
Performance obligations $ 18,796