Business Segment Information - Financial Data By Reportable Segment (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021	Sep. 30, 2022	Sep. 30, 2021
Business Segment Information
Net revenues	$ 272,547	$ 180,716	$ 585,284	$ 506,072
Income (loss) from operations	12,226	(10,331)	(39,727)	(21,827)
Reportable Segments
Business Segment Information
Income (loss) from operations	32,792	(3,318)	1,528	3,723
Intercompany Eliminations
Business Segment Information
Net revenues	(13,409)	(11,773)	(36,503)	(36,962)
Corporate, Eliminations and Other
Business Segment Information
Income (loss) from operations	(20,566)	(7,013)	(41,255)	(25,550)
Well Intervention
Business Segment Information
Net revenues	143,925	131,314	356,583	397,387
Well Intervention | Reportable Segments
Business Segment Information
Net revenues	143,925	131,314	356,583	397,387
Income (loss) from operations	(1,304)	(13,343)	(55,610)	(14,819)
Well Intervention | Intercompany Eliminations
Business Segment Information
Net revenues	(4,303)	(4,267)	(12,046)	(17,060)
Robotics
Business Segment Information
Net revenues	56,182	42,623	143,383	96,430
Robotics | Reportable Segments
Business Segment Information
Net revenues	56,182	42,623	143,383	96,430
Income (loss) from operations	11,708	4,936	22,854	2,257
Robotics | Intercompany Eliminations
Business Segment Information
Net revenues	(8,971)	(7,506)	(24,322)	(19,902)
Shallow Water Abandonment
Business Segment Information
Net revenues	67,401		67,401
Shallow Water Abandonment | Reportable Segments
Business Segment Information
Net revenues	67,401		67,401
Income (loss) from operations	16,320		16,320
Shallow Water Abandonment | Intercompany Eliminations
Business Segment Information
Net revenues	(135)		(135)
Production Facilities
Business Segment Information
Net revenues	18,448	18,552	54,420	49,217
Production Facilities | Reportable Segments
Business Segment Information
Net revenues	18,448	18,552	54,420	49,217
Income (loss) from operations	$ 6,068	$ 5,089	$ 17,964	$ 16,285