Revenue Recognition - Narrative (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023	Dec. 31, 2023	Dec. 31, 2022
Disaggregation of Revenue [Line Items]
Customer deposits	$ 1,800	$ 1,600
Performance obligations	16,193	13,702	$ 11,454	$ 13,584
Restaurant/Retail
Disaggregation of Revenue [Line Items]
Recognition of deferred revenue	2,700	$ 3,100
Government
Disaggregation of Revenue [Line Items]
Performance obligations	315,426		326,000
Funded performance obligations	72,000		73,200
Non-current over one year
Disaggregation of Revenue [Line Items]
Performance obligations	3,296		4,204
Non-current over one year | Restaurant/Retail
Disaggregation of Revenue [Line Items]
Performance obligations	3,296		4,204
Non-current over one year | Government
Disaggregation of Revenue [Line Items]
Performance obligations	$ 0		$ 0
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-04-01
Disaggregation of Revenue [Line Items]
Performance obligations, period	60 months
Performance obligation, percentage	100.00%
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	$ 192,342
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-04-01 | Non-current over one year
Disaggregation of Revenue [Line Items]
Performance obligations, period	36 months
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2025-04-01 | Restaurant/Retail
Disaggregation of Revenue [Line Items]
Performance obligations, period	48 months
Performance obligation, percentage	36.00%
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	$ 87,865
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2026-04-01 | Government
Disaggregation of Revenue [Line Items]
Performance obligations, period	1 year
Performance obligations	$ 16,996
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2027-04-01 | Government
Disaggregation of Revenue [Line Items]
Performance obligations, period
Performance obligations	$ 18,223