Revenue from Contracts with Customers - Additional Information (Details) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2021 USD ($)	Sep. 30, 2020 USD ($)	Sep. 30, 2021 USD ($) Agreement	Sep. 30, 2020 USD ($)	Dec. 31, 2020 USD ($)
Revenue Recognition [Line Items]
Revenue	$ 30,380	$ 24,195	$ 90,147	$ 77,255
Deferred revenue, revenue recognized			1,700
Maximum [Member]
Revenue Recognition [Line Items]
Sales return reserves	100		$ 100		$ 100
Product Revenue [Member]
Revenue Recognition [Line Items]
Number of performance obligations | Agreement			1
Revenue	27,650	20,919	$ 86,122	68,433
Subsea Projects [Member]
Revenue Recognition [Line Items]
Revenue	2,613	3,020	$ 3,687	8,339
Research Services [Member]
Revenue Recognition [Line Items]
Number of performance obligations | Agreement			1
Revenue	$ 117	$ 256	$ 338	$ 483