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Revenue Recognition - Disaggregation of Revenue (Details) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Disaggregation of Revenue [Line Items] |  |  |
Revenue | $ 355,795 | $ 282,876 | $ 213,786
Hardware |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Revenue | 114,410 | 105,014 | 73,228
Subscription service |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Revenue | 97,499 | 62,649 | 31,370
Professional service |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Revenue | 50,438 | 42,688 | 37,914
Restaurant/Retail | Point in Time |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Revenue | 135,347 | 123,180 | 89,220
Restaurant/Retail | Over Time |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Revenue | 127,000 | 87,171 | 53,292
Restaurant/Retail | Hardware | Point in Time |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Revenue | 114,410 | 105,014 | 73,228
Restaurant/Retail | Hardware | Over Time |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Revenue | 0 | 0 | 0
Restaurant/Retail | Subscription service | Point in Time |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Revenue | 0 | 0 | 0
Restaurant/Retail | Subscription service | Over Time |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Revenue | 97,499 | 62,649 | 31,370
Restaurant/Retail | Professional service | Point in Time |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Revenue | 20,937 | 18,166 | 15,992
Restaurant/Retail | Professional service | Over Time |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Revenue | 29,501 | 24,522 | 21,922
Restaurant/Retail | Mission systems | Point in Time |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Revenue | 0 | 0 | 0
Restaurant/Retail | Mission systems | Over Time |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Revenue | 0 | 0 | 0
Restaurant/Retail | Intelligence, surveillance, and reconnaissance solutions | Point in Time |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Revenue | 0 | 0 | 0
Restaurant/Retail | Intelligence, surveillance, and reconnaissance solutions | Over Time |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Revenue | 0 | 0 | 0
Restaurant/Retail | Commercial software | Point in Time |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Revenue | 0 | 0 | 0
Restaurant/Retail | Commercial software | Over Time |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Revenue | 0 | 0 | 0
Government | Point in Time |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Revenue | 1,132 | 505 | 686
Government | Over Time |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Revenue | 92,316 | 72,020 | 70,588
Government | Hardware | Point in Time |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Revenue | 0 | 0 | 0
Government | Hardware | Over Time |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Revenue | 0 | 0 | 0
Government | Subscription service | Point in Time |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Revenue | 0 | 0 | 0
Government | Subscription service | Over Time |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Revenue | 0 | 0 | 0
Government | Professional service | Point in Time |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Revenue | 0 | 0 | 0
Government | Professional service | Over Time |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Revenue | 0 | 0 | 0
Government | Mission systems | Point in Time |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Revenue | 0 | 0 | 0
Government | Mission systems | Over Time |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Revenue | 35,458 | 38,311 | 37,448
Government | Intelligence, surveillance, and reconnaissance solutions | Point in Time |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Revenue | 0 | 0 | 0
Government | Intelligence, surveillance, and reconnaissance solutions | Over Time |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Revenue | 56,141 | 33,188 | 32,947
Government | Commercial software | Point in Time |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Revenue | 1,132 | 505 | 686
Government | Commercial software | Over Time |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Revenue | $ 717 | $ 521 | $ 193

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