Business Segment Information - Financial Data By Reportable Segment (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Segment Reporting Information [Line Items]
Net revenues	$ 180,716	$ 193,490	$ 506,072	$ 573,658
Goodwill impairment				(6,689)
Income from operations	(10,331)	19,015	(21,827)	12,182
Reportable Segments
Segment Reporting Information [Line Items]
Income from operations	(3,318)	29,961	3,723	47,992
Intercompany Eliminations
Segment Reporting Information [Line Items]
Net revenues	(11,773)	(11,282)	(36,962)	(32,835)
Corporate, Eliminations and Other
Segment Reporting Information [Line Items]
Income from operations	(7,013)	(10,946)	(25,550)	(29,121)
Well Intervention
Segment Reporting Information [Line Items]
Net revenues	131,314	140,803	397,387	427,296
Well Intervention | Reportable Segments
Segment Reporting Information [Line Items]
Net revenues	131,314	140,803	397,387	427,296
Income from operations	(13,343)	18,844	(14,819)	24,910
Well Intervention | Intercompany Eliminations
Segment Reporting Information [Line Items]
Net revenues	(4,267)	(4,120)	(17,060)	(11,334)
Robotics
Segment Reporting Information [Line Items]
Net revenues	42,623	49,802	96,430	135,896
Robotics | Reportable Segments
Segment Reporting Information [Line Items]
Net revenues	42,623	49,802	96,430	135,896
Income from operations	4,936	6,983	2,257	11,940
Robotics | Intercompany Eliminations
Segment Reporting Information [Line Items]
Net revenues	(7,506)	(7,162)	(19,902)	(21,501)
Production Facilities
Segment Reporting Information [Line Items]
Net revenues	18,552	14,167	49,217	43,301
Production Facilities | Reportable Segments
Segment Reporting Information [Line Items]
Net revenues	18,552	14,167	49,217	43,301
Income from operations	$ 5,089	$ 4,134	$ 16,285	$ 11,142