Segment and Related Information - Revenue by Major Customers (Details)	3 Months Ended
	Mar. 31, 2021	Mar. 31, 2020
Revenue, Major Customer [Line Items]
Concentration risk, percentage	100.00%	100.00%
Operating segments | Restaurant and Retail | Dairy Queen
Revenue, Major Customer [Line Items]
Concentration risk, percentage	9.00%	16.00%
Operating segments | Restaurant and Retail | Yum! Brands, Inc.
Revenue, Major Customer [Line Items]
Concentration risk, percentage	12.00%	11.00%
Operating segments | Government Segment | U.S. Department of Defense
Revenue, Major Customer [Line Items]
Concentration risk, percentage	33.00%	32.00%
Corporate, Non-Segment
Revenue, Major Customer [Line Items]
Concentration risk, percentage	46.00%	41.00%