Business Segment Information - Total Assets By Reportable Segment (Details) - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022
Business Segment Information
Total assets	$ 2,423,845	$ 2,389,338
Corporate, Eliminations and Other
Business Segment Information
Total assets	50,904	57,049
Well Intervention | Reportable Segments
Business Segment Information
Total assets	1,832,507	1,796,269
Robotics | Reportable Segments
Business Segment Information
Total assets	188,267	192,694
Shallow Water Abandonment | Reportable Segments
Business Segment Information
Total assets	232,142	206,944
Production Facilities | Reportable Segments
Business Segment Information
Total assets	$ 120,025	$ 136,382