Segment and Related Information - Summary of Segment Information (Details) $ in Thousands	3 Months Ended
	Mar. 31, 2023 USD ($) reporting_unit	Mar. 31, 2022 USD ($)
Segment and Related Information [Abstract]
Number of operating segments (in reporting units) | reporting_unit	2
Number of reportable segments (in reporting units) | reporting_unit	2
Information as to the Company's segments [Abstract]
Revenues	$ 100,437	$ 80,285
Operating (loss) income	(13,864)	(12,809)
Other expense, net	(59)	(368)
Interest expense, net	(1,667)	(2,463)
Loss before provision for income taxes	(15,590)	(15,640)
Depreciation, amortization and accretion	7,455	6,886
Capital expenditures including software costs	2,167	1,848
United States
Information as to the Company's segments [Abstract]
Revenues	95,437	75,593
International
Information as to the Company's segments [Abstract]
Revenues	5,000	4,692
Other
Information as to the Company's segments [Abstract]
Operating (loss) income	(13,468)	(9,175)
Depreciation, amortization and accretion	948	867
Capital expenditures including software costs	890	257
Restaurant/Retail
Information as to the Company's segments [Abstract]
Revenues	68,584	58,846
Restaurant/Retail | Operating segments
Information as to the Company's segments [Abstract]
Operating (loss) income	(2,678)	(5,181)
Depreciation, amortization and accretion	6,392	5,910
Capital expenditures including software costs	1,147	1,547
Government
Information as to the Company's segments [Abstract]
Revenues	31,853	21,439
Government | Operating segments
Information as to the Company's segments [Abstract]
Operating (loss) income	2,282	1,547
Depreciation, amortization and accretion	115	109
Capital expenditures including software costs	$ 130	$ 44