Business Segments - Schedule of Segment Reporting (Details) - USD ($) $ in Thousands	3 Months Ended			6 Months Ended		9 Months Ended	12 Months Ended
	Jun. 30, 2023	Sep. 30, 2022	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022	Sep. 30, 2022	Dec. 31, 2022	Dec. 31, 2021
Segment Reporting Information [Line Items]
Revenues	$ 89,607		$ 93,978	$ 180,472	$ 177,115		$ 361,924	$ 322,448
Depreciation and amortization	7,049		7,670	13,938	15,229
Operating income (loss)	3,606	$ 12,431	(3,869)	6,794	(9,460)	$ 2,971	$ 454	$ (125,335)
Subsea Products
Segment Reporting Information [Line Items]
Revenues	44,579		49,466	90,696	95,749
Depreciation and amortization	1,745		1,787	3,344	3,573
Operating income (loss)	(1,894)		(4,322)	(399)	(6,898)
Subsea Services
Segment Reporting Information [Line Items]
Revenues	23,586		25,265	47,482	47,016
Depreciation and amortization	2,773		3,088	5,527	6,128
Operating income (loss)	1,230		4,799	10,613	5,183
Well construction
Segment Reporting Information [Line Items]
Revenues	21,442		19,247	42,294	34,350
Depreciation and amortization	1,816		1,672	3,559	3,279
Operating income (loss)	6,491		4,992	7,054	7,547
Corporate
Segment Reporting Information [Line Items]
Revenues	0		0	0	0
Depreciation and amortization	715		1,123	1,508	2,249
Operating income (loss)	$ (2,221)		$ (9,338)	$ (10,474)	$ (15,292)