Annual report pursuant to Section 13 and 15(d)

Contract Liabilities and Costs from Contracts with Customers - Additional Information (Details)

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Contract Liabilities and Costs from Contracts with Customers - Additional Information (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Contract Liabilities And Costs From Contracts With Customers [Line Items]      
Other deferred revenue $ 141,461 $ 118,438  
Expected duration of contracts one year or less    
Franchisee agreement term 10 years    
Deferred costs, current portion $ 4,131 3,712  
Deferred costs, net of current portion 43,620 42,015  
Franchise Agreements      
Contract Liabilities And Costs From Contracts With Customers [Line Items]      
Deferred costs, current portion 3,589 3,071  
Deferred costs, net of current portion 43,445 41,941  
Equipment and Other      
Contract Liabilities And Costs From Contracts With Customers [Line Items]      
Other deferred revenue 18,576 11,805  
Franchise revenue      
Contract Liabilities And Costs From Contracts With Customers [Line Items]      
Sales commission and fees $ 11,049 $ 6,006 $ 4,234