Business Segment Information - Intercompany Segment Revenues (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Business Segment Information
Net revenues	$ (873,100)	$ (674,728)	$ (733,555)
Well Intervention
Business Segment Information
Net revenues	(524,241)	(516,564)	(539,249)
Robotics
Business Segment Information
Net revenues	(191,921)	(137,295)	(178,018)
Intercompany Eliminations
Business Segment Information
Net revenues	50,187	48,479	42,015
Intercompany Eliminations | Well Intervention
Business Segment Information
Net revenues	16,545	21,521	15,039
Intercompany Eliminations | Robotics
Business Segment Information
Net revenues	$ 33,642	$ 26,958	$ 26,976