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Acquisitions - Narrative (Details) - USD ($) |  |  | 3 Months Ended | 12 Months Ended
--- | --- | --- | --- | ---
Dec. 18, 2019 | Sep. 30, 2019 | Jun. 30, 2020 | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Business Acquisition [Line Items] |  |  |  |  |  |
Fair value of assets acquired | $ 55,929,000 |  |  |  |  |
Goodwill | 30,163,000 |  |  | $ 41,214,000 | $ 41,386,000 | $ 11,051,000
Consideration of business acquisition | 49,833,000 |  |  |  |  |
Settlement of working capital for acquisition |  |  |  | 191,000 | 0 | 0
Value of the Earn-Out |  |  |  | 0 |  |
Change in fair value of contingent consideration |  |  |  | 3,340,000 | 0 | $ 450,000
Developed Technology Rights |  |  |  |  |  |
Business Acquisition [Line Items] |  |  |  |  |  |
Finite-lived intangible assets | 17,600,000 |  |  |  |  |
Customer Relationships |  |  |  |  |  |
Business Acquisition [Line Items] |  |  |  |  |  |
Finite-lived intangible assets | 4,700,000 |  |  |  |  |
Drive-Thru Communications Systems, 3M |  |  |  |  |  |
Business Acquisition [Line Items] |  |  |  |  |  |
Business acquisition, purchase price |  | $ 8,400,000 |  |  |  |
Fair value of assets acquired | 8,412,000 | 8,400,000 |  |  |  |
Goodwill | 2,390,000 | 2,400,000 |  |  |  |
Warranty liability assumed |  | 1,400,000 |  |  |  |
Business acquisition, cash paid |  | 7,000,000.0 |  |  |  |
Consideration of business acquisition | 7,000,000 |  |  |  |  |
Revenue of acquiree |  |  |  | 18,500,000 | 3,200,000 |
Drive-Thru Communications Systems, 3M | Developed Technology Rights |  |  |  |  |  |
Business Acquisition [Line Items] |  |  |  |  |  |
Finite-lived intangible assets | 1,200,000 | 1,200,000 |  |  |  |
Drive-Thru Communications Systems, 3M | Customer Relationships |  |  |  |  |  |
Business Acquisition [Line Items] |  |  |  |  |  |
Finite-lived intangible assets | 3,600,000 | $ 3,600,000 |  |  |  |
AccSys LLC (Restaurant Magic) |  |  |  |  |  |
Business Acquisition [Line Items] |  |  |  |  |  |
Fair value of assets acquired | 47,517,000 |  |  |  |  |
Goodwill | 27,773,000 |  |  |  |  |
Business acquisition, cash paid | $ 12,800,000 |  |  |  |  |
Percentage of interest acquired of limited liability company | 100.00% |  |  |  |  |
Consideration of business acquisition | $ 42,833,000 |  |  |  |  |
Settlement of working capital for acquisition |  |  | $ 200,000 |  |  |
Business acquisition, paid in shares | $ 27,500,000 |  |  |  |  |
Value of the Earn-Out |  |  |  | 0 | 3,300,000 |
Change in fair value of contingent consideration |  |  |  | 3,300,000 |  |
Revenue of acquiree |  |  |  | $ 8,400,000 | $ 300,000 |
AccSys LLC (Restaurant Magic) | Restricted stock units |  |  |  |  |  |
Business Acquisition [Line Items] |  |  |  |  |  |
Equity interest issued (in shares) |  |  |  | 2,000,000.0 |  |
AccSys LLC (Restaurant Magic) | Minimum |  |  |  |  |  |
Business Acquisition [Line Items] |  |  |  |  |  |
Estimated useful lives | 2 years |  |  |  |  |
AccSys LLC (Restaurant Magic) | Maximum |  |  |  |  |  |
Business Acquisition [Line Items] |  |  |  |  |  |
Estimated useful lives | 7 years |  |  |  |  |
AccSys LLC (Restaurant Magic) | Cash Or Subordinated Promissory Notes |  |  |  |  |  |
Business Acquisition [Line Items] |  |  |  |  |  |
Earn outs payable | 50.00% |  |  |  |  |
AccSys LLC (Restaurant Magic) | Restricted Shares Of Common Stock |  |  |  |  |  |
Business Acquisition [Line Items] |  |  |  |  |  |
Earn outs payable | 50.00% |  |  |  |  |
AccSys LLC (Restaurant Magic) | Subordinate Promissory Note |  |  |  |  |  |
Business Acquisition [Line Items] |  |  |  |  |  |
Warranty liability assumed | $ 2,000,000.0 |  |  |  |  |
AccSys LLC (Restaurant Magic) | Developed Technology Rights |  |  |  |  |  |
Business Acquisition [Line Items] |  |  |  |  |  |
Finite-lived intangible assets | 16,400,000 |  |  |  |  |
AccSys LLC (Restaurant Magic) | Customer Relationships |  |  |  |  |  |
Business Acquisition [Line Items] |  |  |  |  |  |
Finite-lived intangible assets | $ 1,100,000 |  |  |  |  |

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