Business Segment Information - Intercompany Segment Revenues (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Segment Reporting Information [Line Items]
Net revenues	$ (162,612)	$ (161,941)	$ (312,737)	$ (325,356)
Well Intervention
Segment Reporting Information [Line Items]
Net revenues	(106,291)	(132,305)	(212,658)	(266,073)
Robotics
Segment Reporting Information [Line Items]
Net revenues	(49,850)	(31,651)	(87,201)	(53,807)
Intercompany Eliminations
Segment Reporting Information [Line Items]
Net revenues	11,207	16,233	23,094	25,189
Intercompany Eliminations | Well Intervention
Segment Reporting Information [Line Items]
Net revenues	3,893	10,206	7,743	12,793
Intercompany Eliminations | Robotics
Segment Reporting Information [Line Items]
Net revenues	$ 7,314	$ 6,027	$ 15,351	$ 12,396