Segment and Related Information - Information of the Company's Segments (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Segment Reporting Information [Line Items]
Revenue	$ 415,823	$ 355,795	$ 282,876
Operating Income (Loss) [Abstract]
Operating income (loss)	(59,709)	(58,032)	(53,881)
Other expense, net	(489)	(1,224)	(1,279)
Loss on extinguishment of debt	(635)	0	(11,916)
Interest expense, net	(6,931)	(8,811)	(18,147)
Loss before (provision for) benefit from income taxes	(67,764)	(68,067)	(85,223)
Depreciation and amortization	29,686	28,092	30,146
Capital expenditures including software costs	11,040	7,725	8,287
Identifiable assets	802,606	854,858
Goodwill	489,654	486,762	457,306
United States
Segment Reporting Information [Line Items]
Revenue	392,224	336,201	262,164
Operating Income (Loss) [Abstract]
Identifiable assets	767,894	809,437
International
Segment Reporting Information [Line Items]
Revenue	23,599	19,594	20,712
Operating Income (Loss) [Abstract]
Identifiable assets	34,712	45,421
Government
Operating Income (Loss) [Abstract]
Goodwill	736	736
Operating Segments | Restaurant/Retail
Segment Reporting Information [Line Items]
Revenue	276,714	262,347	210,351
Operating Income (Loss) [Abstract]
Operating income (loss)	(68,387)	(65,559)	(59,682)
Depreciation and amortization	29,219	27,640	29,766
Capital expenditures including software costs	10,541	7,498	7,576
Identifiable assets	694,568	722,958
Goodwill	488,918	486,026
Operating Segments | Government
Segment Reporting Information [Line Items]
Revenue	139,109	93,448	72,525
Operating Income (Loss) [Abstract]
Operating income (loss)	8,678	7,527	5,801
Depreciation and amortization	467	452	380
Capital expenditures including software costs	499	227	$ 711
Identifiable assets	24,475	21,443
Other
Operating Income (Loss) [Abstract]
Identifiable assets	$ 83,563	$ 110,457