Business Segment Information - Intercompany Segment Revenues (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Segment Reporting Information [Line Items]
Net revenues	$ (674,728)	$ (733,555)	$ (751,909)
Well Intervention
Segment Reporting Information [Line Items]
Net revenues	(516,564)	(539,249)	(593,300)
Robotics
Segment Reporting Information [Line Items]
Net revenues	(137,295)	(178,018)	(171,672)
Intercompany Eliminations
Segment Reporting Information [Line Items]
Net revenues	48,479	42,015	74,273
Intercompany Eliminations | Well Intervention
Segment Reporting Information [Line Items]
Net revenues	21,521	15,039	43,484
Intercompany Eliminations | Well Intervention | Production Facilities
Segment Reporting Information [Line Items]
Net revenues			27,500
Intercompany Eliminations | Robotics
Segment Reporting Information [Line Items]
Net revenues	$ 26,958	$ 26,976	$ 30,789