I tried online unserializer tool, but failed to interpret your value, because it’s broken.

Anyway, the way to get value is like below:

// Get the value from db first
$meta_value = get_post_meta( $post->ID, 'invoice_details' , true ); //'invoice_details' is a string, not a variable

// Get to the desired value
$desired_value = $meta_value['array_key']; // value from first step of array

or:

$desired_value = $meta_value['array_key']['array_key_second']; // value from second step of array

You should var_dump($meta_value) after having $meta_value to get the idea how to proceed with the data.

Edit

I simply organized your array like below:

<?php
array (
    'price_per_night' => '150',
    'no_of_nights' => '1',
    'price_calulating_nights' => '150',
    'price_after_commission' => '150',
    'discount_type' => '',
    'price_after_discount' => '150',
    'discounted_price' => '0',
    'discount_percentage' => '',
    'total_service_fee' => '60',
    'total_price' => '210',
    'currency' => 'GBP',
    'post_id' => '21',
    'check_in' => '02-07-2017',
    'check_out' => '03-07-2017',
    'guests' => '1',
    'security_deposit' => '100',
    'secret_key' => 'FfmtXmaPOKbrS8B1XLugufiD3Hdjxl',
    'updated_at' => '2017-06-25 17:04:33',
    'booking_request_by' => 2,
    'step_2_attributes' => array (
        'firstname' => 'Tom',
        'lastname' => 'Smith',
        'street_address' => '229',
        'postal_code' => 'YW11 3DU',
        'city' => 'London',
        'country' => 'United Kingdom',
        'phone' => '0799999999',
        'guest_fname' => array (
            1 => 'Bella',
        ),
        'guest_lname' => array (
            1 => 'King',
        ),
    ),
);

And it itself giving you the answer. Yes, just get to the nested keys:

$firstname = $meta_value['step_2_attributes']['firstname'];

If the 'firstname' is set you will get the First Name.

For Guest First Name:

$guestFirstname = $meta_value['step_2_attributes']['guest_fname'][1];

Edit

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