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Business Segments - Additional Information (Details) $ in Thousands	3 Months Ended		12 Months Ended
	Mar. 31, 2023 Segment	Dec. 31, 2021 USD ($)	Dec. 31, 2023 USD ($) Segment Customer	Dec. 31, 2022 USD ($) Customer	Dec. 31, 2021 USD ($) Customer
Concentration Risk [Line Items]
Inventory write-down			$ 0	$ 0	$ 66,910
Number of reportable business segments \| Segment	3		3
Number of geographic segments \| Segment	3
Restructuring and Related Cost, Incurred Cost			$ 0
Revenues			$ 424,060	$ 361,924	$ 322,448
Number of major customers \| Customer			15	15	15
Long-lived asset write-down			$ 0	$ 5,678	$ 4,240
No other customer
Concentration Risk [Line Items]
Number of major customers \| Customer			0	0	0
2021 Global Strategic Plan
Concentration Risk [Line Items]
Inventory write-down		$ 47,700
Restructuring and Related Cost, Incurred Cost			$ 3,200	$ 13,400
Well construction \| 2021 Global Strategic Plan
Concentration Risk [Line Items]
Restructuring and Related Cost, Incurred Cost			(1,900)
Subsea Services \| 2021 Global Strategic Plan
Concentration Risk [Line Items]
Restructuring and Related Cost, Incurred Cost			400
Subsea Products \| 2021 Global Strategic Plan
Concentration Risk [Line Items]
Restructuring and Related Cost, Incurred Cost			$ 2,500
Customer Concentration Risk \| Revenue from Contract with Customer, Product and Service Benchmark \| No other customer
Concentration Risk [Line Items]
Concentration Risk, Percentage			10.00%	10.00%	10.00%
Customer Concentration Risk \| Revenue from Contract with Customer, Product and Service Benchmark \| Customer 15
Concentration Risk [Line Items]
Concentration Risk, Percentage			59.00%	60.00%	59.00%
Customer Concentration Risk \| Revenue from Contract with Customer, Product and Service Benchmark \| Chevron
Concentration Risk [Line Items]
Concentration Risk, Percentage			11.00%	10.00%	12.00%
Non-US
Concentration Risk [Line Items]
Revenues			$ 317,600	$ 239,600	$ 205,700
US
Concentration Risk [Line Items]
Revenues			$ 106,400	122,300	116,700
Previously Reported
Concentration Risk [Line Items]
Number of geographic segments \| Segment			3
Revenues				$ 362,070	$ 322,945