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, 2023
Dec. 31, 2022
Dec. 31, 2021
Contract Liabilities And Costs From Contracts With Customers [Line Items]      
Other deferred revenue $ 151,979 $ 141,461  
Expected duration of contracts one year or less    
Franchisee agreement term 10 years    
Deferred costs, current portion $ 6,620 4,131  
Deferred costs, net of current portion 46,541 43,620  
Franchise Agreements      
Contract Liabilities And Costs From Contracts With Customers [Line Items]      
Deferred costs, current portion 4,126 3,589  
Deferred costs, net of current portion 46,221 43,445  
Equipment and Other      
Contract Liabilities And Costs From Contracts With Customers [Line Items]      
Other deferred revenue 22,277 18,576  
Franchise revenue      
Contract Liabilities And Costs From Contracts With Customers [Line Items]      
Sales commission and fees $ 7,327 $ 11,049 $ 6,006