Revenue From Contracts With Customers - Disaggregation Of Revenue (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Disaggregation of Revenue [Line Items]
Net revenues	$ 180,716	$ 193,490	$ 506,072	$ 573,658
Intercompany Eliminations
Disaggregation of Revenue [Line Items]
Net revenues	(11,773)	(11,282)	(36,962)	(32,835)
Well Intervention
Disaggregation of Revenue [Line Items]
Net revenues	131,314	140,803	397,387	427,296
Well Intervention | Intercompany Eliminations
Disaggregation of Revenue [Line Items]
Net revenues	(4,267)	(4,120)	(17,060)	(11,334)
Robotics
Disaggregation of Revenue [Line Items]
Net revenues	42,623	49,802	96,430	135,896
Robotics | Intercompany Eliminations
Disaggregation of Revenue [Line Items]
Net revenues	(7,506)	(7,162)	(19,902)	(21,501)
Production Facilities
Disaggregation of Revenue [Line Items]
Net revenues	18,552	14,167	49,217	43,301
Short-term
Disaggregation of Revenue [Line Items]
Net revenues	123,140	75,689	279,445	271,906
Short-term | Well Intervention
Disaggregation of Revenue [Line Items]
Net revenues	92,954	46,907	218,840	184,599
Short-term | Robotics
Disaggregation of Revenue [Line Items]
Net revenues	30,186	28,782	60,605	87,307
Long-term
Disaggregation of Revenue [Line Items]
Net revenues	57,576	117,801	226,627	301,752
Long-term | Intercompany Eliminations
Disaggregation of Revenue [Line Items]
Net revenues	(11,773)	(11,282)	(36,962)	(32,835)
Long-term | Well Intervention
Disaggregation of Revenue [Line Items]
Net revenues	38,360	93,896	178,547	242,697
Long-term | Robotics
Disaggregation of Revenue [Line Items]
Net revenues	12,437	21,020	35,825	48,589
Long-term | Production Facilities
Disaggregation of Revenue [Line Items]
Net revenues	$ 18,552	$ 14,167	$ 49,217	$ 43,301