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Revenue Recognition - Performance Obligations (Details) - USD ($) $ in Thousands | Sep. 30, 2023 | Dec. 31, 2022 | Sep. 30, 2022 | Dec. 31, 2021
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Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items] |  |  |  |
Performance obligations | $ 12,399 | $ 13,584 | $ 16,833 | $ 20,046
Government |  |  |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items] |  |  |  |
Performance obligations | 327,485 | 333,900 |  |
Current under one year |  |  |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items] |  |  |  |
Performance obligations | 8,070 | 8,459 |  |
Current under one year | Restaurant/Retail |  |  |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items] |  |  |  |
Performance obligations | 8,070 | 8,459 |  |
Current under one year | Government |  |  |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items] |  |  |  |
Performance obligations | 0 | 0 |  |
Non-current over one year |  |  |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items] |  |  |  |
Performance obligations | 4,329 | 5,125 |  |
Non-current over one year | Restaurant/Retail |  |  |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items] |  |  |  |
Performance obligations | 4,329 | 5,125 |  |
Non-current over one year | Government |  |  |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items] |  |  |  |
Performance obligations | $ 0 | $ 0 |  |

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