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Revenue Recognition - Disaggregated Revenue (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022
Disaggregation of Revenue [Line Items] |  |  |  |
Revenue | $ 107,134 | $ 92,767 | $ 308,115 | $ 258,145
Restaurant/Retail |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |
Revenue | 68,701 | 68,354 | 206,814 | 191,371
Restaurant/Retail | Point in Time |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |
Revenue | 30,096 | 35,619 | 95,458 | 97,937
Restaurant/Retail | Over Time |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |
Revenue | 38,605 | 32,734 | 111,356 | 93,433
Government |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |
Revenue | 38,433 | 24,413 | 101,301 | 66,774
Government | Point in Time |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |
Revenue | 190 | 541 | 401 | 753
Government | Over Time |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |
Revenue | 38,243 | 23,873 | 100,900 | 66,022
Hardware |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |
Revenue | 25,824 | 31,343 | 78,991 | 84,820
Hardware | Restaurant/Retail | Point in Time |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |
Revenue | 25,824 | 31,343 | 78,991 | 84,820
Hardware | Restaurant/Retail | Over Time |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |
Revenue | 0 | 0 | 0 | 0
Hardware | Government | Point in Time |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |
Revenue | 0 | 0 | 0 | 0
Hardware | Government | Over Time |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |
Revenue | 0 | 0 | 0 | 0
Subscription service |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |
Revenue | 31,363 | 25,170 | 89,700 | 69,591
Subscription service | Restaurant/Retail | Point in Time |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |
Revenue | 0 | 0 | 0 | 0
Subscription service | Restaurant/Retail | Over Time |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |
Revenue | 31,363 | 25,170 | 89,700 | 69,591
Subscription service | Government | Point in Time |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |
Revenue | 0 | 0 | 0 | 0
Subscription service | Government | Over Time |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |
Revenue | 0 | 0 | 0 | 0
Professional service |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |
Revenue | 11,514 | 11,840 | 38,123 | 36,959
Professional service | Restaurant/Retail | Point in Time |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |
Revenue | 4,272 | 4,276 | 16,467 | 13,117
Professional service | Restaurant/Retail | Over Time |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |
Revenue | 7,242 | 7,564 | 21,656 | 23,842
Professional service | Government | Point in Time |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |
Revenue | 0 | 0 | 0 | 0
Professional service | Government | Over Time |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |
Revenue | 0 | 0 | 0 | 0
Mission systems | Restaurant/Retail | Point in Time |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |
Revenue | 0 | 0 | 0 | 0
Mission systems | Restaurant/Retail | Over Time |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |
Revenue | 0 | 0 | 0 | 0
Mission systems | Government | Point in Time |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |
Revenue | 0 | 0 | 0 | 0
Mission systems | Government | Over Time |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |
Revenue | 8,808 | 8,982 | 27,408 | 26,781
Intelligence, surveillance, and reconnaissance solutions | Restaurant/Retail | Point in Time |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |
Revenue | 0 | 0 | 0 | 0
Intelligence, surveillance, and reconnaissance solutions | Restaurant/Retail | Over Time |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |
Revenue | 0 | 0 | 0 | 0
Intelligence, surveillance, and reconnaissance solutions | Government | Point in Time |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |
Revenue | 0 | 0 | 0 | 0
Intelligence, surveillance, and reconnaissance solutions | Government | Over Time |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |
Revenue | 29,275 | 14,710 | 73,000 | 38,746
Commercial software | Restaurant/Retail | Point in Time |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |
Revenue | 0 | 0 | 0 | 0
Commercial software | Restaurant/Retail | Over Time |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |
Revenue | 0 | 0 | 0 | 0
Commercial software | Government | Point in Time |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |
Revenue | 190 | 541 | 401 | 753
Commercial software | Government | Over Time |  |  |  |
Disaggregation of Revenue [Line Items] |  |  |  |
Revenue | $ 160 | $ 181 | $ 492 | $ 495

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