Revenue From Contracts With Customers - Disaggregation Of Revenue (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020
Disaggregation of Revenue [Line Items]
Net revenues	$ 161,941	$ 199,147	$ 325,356	$ 380,168
Intercompany Eliminations
Disaggregation of Revenue [Line Items]
Net revenues	(16,233)	(11,123)	(25,189)	(21,553)
Well Intervention
Disaggregation of Revenue [Line Items]
Net revenues	132,305	145,841	266,073	286,493
Well Intervention | Intercompany Eliminations
Disaggregation of Revenue [Line Items]
Net revenues	(10,206)	(3,910)	(12,793)	(7,214)
Robotics
Disaggregation of Revenue [Line Items]
Net revenues	31,651	50,836	53,807	86,094
Robotics | Intercompany Eliminations
Disaggregation of Revenue [Line Items]
Net revenues	(6,027)	(7,213)	(12,396)	(14,339)
Production Facilities
Disaggregation of Revenue [Line Items]
Net revenues	14,218	13,593	30,665	29,134
Short-term
Disaggregation of Revenue [Line Items]
Net revenues	97,681	91,452	156,305	196,217
Short-term | Intercompany Eliminations
Disaggregation of Revenue [Line Items]
Net revenues	0	0	0	0
Short-term | Well Intervention
Disaggregation of Revenue [Line Items]
Net revenues	76,669	55,368	125,886	137,692
Short-term | Robotics
Disaggregation of Revenue [Line Items]
Net revenues	21,012	36,084	30,419	58,525
Short-term | Production Facilities
Disaggregation of Revenue [Line Items]
Net revenues	0	0	0	0
Long-term
Disaggregation of Revenue [Line Items]
Net revenues	64,260	107,695	169,051	183,951
Long-term | Intercompany Eliminations
Disaggregation of Revenue [Line Items]
Net revenues	(16,233)	(11,123)	(25,189)	(21,553)
Long-term | Well Intervention
Disaggregation of Revenue [Line Items]
Net revenues	55,636	90,473	140,187	148,801
Long-term | Robotics
Disaggregation of Revenue [Line Items]
Net revenues	10,639	14,752	23,388	27,569
Long-term | Production Facilities
Disaggregation of Revenue [Line Items]
Net revenues	$ 14,218	$ 13,593	$ 30,665	$ 29,134