Revenue Recognition - Narrative (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Disaggregation of Revenue [Line Items]
Customer deposits	$ 2,100	$ 2,100
Performance obligations	$ 11,454	13,584	$ 20,046
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-01-01
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	$ 4,204	5,125
Non-current over one year | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-01-01
Disaggregation of Revenue [Line Items]
Performance obligations, period	36 months
Restaurant/Retail
Disaggregation of Revenue [Line Items]
Recognition of deferred revenue	$ 8,500	13,800
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	$ 4,204	5,125
Government
Disaggregation of Revenue [Line Items]
Performance obligations	325,986	333,900
Funded performance obligations	$ 73,200	86,500
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	$ 179,568
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	$ 105,609
Government | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2026-01-01
Disaggregation of Revenue [Line Items]
Performance obligations, period	1 year
Performance obligations	$ 19,508
Government | Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2027-01-01
Disaggregation of Revenue [Line Items]
Performance obligations, period
Performance obligations	$ 21,301
Government | Non-current over one year
Disaggregation of Revenue [Line Items]
Performance obligations	$ 0	$ 0