Segment and Related Information - Summary of Segment Information (Details) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023 USD ($)	Jun. 30, 2022 USD ($)	Jun. 30, 2023 USD ($) reporting_unit	Jun. 30, 2022 USD ($)
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:	$ 100,544	$ 85,093	$ 200,981	$ 165,378
Operating (loss) income:	(17,653)	(16,099)	(31,517)	(28,908)
Other income (expense), net	95	(257)	36	(625)
Interest expense, net	(1,735)	(2,451)	(3,402)	(4,914)
Loss before provision for income taxes	(19,293)	(18,807)	(34,883)	(34,447)
Depreciation, amortization and accretion:	7,413	6,951	14,868	13,838
Capital expenditures including software costs:	3,836	2,002	6,003	3,937
United States
Information as to the Company's segments [Abstract]
Revenues:	95,375	79,258	190,813	154,851
International
Information as to the Company's segments [Abstract]
Revenues:	5,169	5,835	10,168	10,527
Restaurant/Retail
Information as to the Company's segments [Abstract]
Revenues:	69,529	64,171	138,113	123,017
Operating (loss) income:	(18,982)	(18,413)	(35,129)	(32,769)
Depreciation, amortization and accretion:	7,297	6,832	14,637	13,610
Capital expenditures including software costs:	3,752	1,989	5,789	3,880
Government
Information as to the Company's segments [Abstract]
Revenues:	31,015	20,922	62,868	42,361
Operating (loss) income:	1,329	2,314	3,612	3,861
Depreciation, amortization and accretion:	116	119	231	228
Capital expenditures including software costs:	$ 84	$ 13	$ 214	$ 57