Field equipment, net - Additional Information (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Field Equipment [Line Items]
Asset write-downs and impairment of field equipment	$ 493	$ 955	$ 649
Field equipment
Field Equipment [Line Items]
Equipment expense	5,756	6,463	6,355
Field equipment under operating leases
Field Equipment [Line Items]
Asset write-downs and impairment of field equipment	$ 483	$ 611	$ 639

Amount of write-down of assets recognized in the income statement. Includes, but is not limited to, losses from tangible assets, intangible assets and goodwill.

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Name Accounting Standards Codification
-Section 45
-Paragraph 28
-Subparagraph (b)
-SubTopic 10
-Topic 230
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482740/230-10-45-28

Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef
-Name Accounting Standards Codification
-Topic 360
-SubTopic 10
-Section 45
-Paragraph 4
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482130/360-10-45-4

Name:	us-gaap_AssetImpairmentCharges
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration