Get index names of a multi-dimensional array in PHP

I have a form with multiple input fields, which are serialized and passed to a function via AJAX. Inside the function, I have the data in below form. I need to get Book-Keeper, publish-companies, and 1 as separate variables.

// $key = '_data'
// $values = {"name":"_data[Book-Keeper][publish_companies]","value":"1"}

Here’s the function code.

function fnc_edit_roles(WP_REST_Request $request) {

    $variables = $_REQUEST; 

    // Get all $_POST variables into $data[] array with key=>value
    if( $variables ) {

        while ( list( $field, $value ) = each( $_REQUEST )) {

            if( $field !== '_nonce' ) {
                $data[$field] = $value;
            }

        } // end while

    } // end if

    foreach( $data as $key=>$values ) {
        // $key = '_data'
        // $values = {"name":"_data[Book-Keeper][publish_companies]","value":"1"}
        // How do I get 'Book-Keeper', 'publish_companies', and '1' into separate variables?

    }

    $result = array( 'msg' => $data, 'error' => false );
    return json_encode( $result );

}

And here’s how I get the inputs in HTML.

<form id="_user_roles_form" method="post" class="form-horizontal">
    <div class="form-group row">
        <label class="col-lg-6 control-label">Publish Companies</label>
        <div class="col-lg-6">
            <div class="btn-group" data-toggle="buttons">
                <label class="btn btn-default active">
                    <input type="radio" name="_data[Book-Keeper][publish_companies]" value="1"/> True
                </label>
                <label class="btn btn-default ">
                    <input type="radio" name="_data[Book-Keeper][publish_companies]" value="0"/> False
                </label>
            </div>
        </div>
    </div>
</form>

And here’s how I pass the inputted data to AJAX function.

var _data = jQuery('#_user_roles_form').serializeArray();

jQuery.ajax({
    url: myAjaxUrl,
    type: 'POST',
    data: _data,
    success: function( json ) {
        var result = JSON.parse( json );
        console.log( result.msg );
    }
});

Long question short, how do I get Book-Keeper and publish_companies out of the string _data[Book-Keeper][publish_companies]? key or array_keys doesn’t work here…

Read more here: Get index names of a multi-dimensional array in PHP

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