Jesus didn't change the margins with ideas. He changed the margins with concrete actions. His meal-time practices were "provocative theatre." You could see the people, smell the food, hear the laughter, dip into the same dish with Jesus. You could actually live in the kingdom of God with Jesus. The last first, the least the greatest, the child the proto-type disciple. You could breathe deeply the grace of God and see shame flee away forever.
Following Jesus was, by his culture's standards, an R-rated action movie, not a purpose-driven Bible study.
We don't read about Jesus critics saying, "This man welcomes sinners and gives them new ideas." We read, "This man welcomes sinners and eats with them."
We'd rather "believe" in Jesus than eat and drink him.