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Stock-Based Compensation and Stock Awards - Performance Unit Awards - Additional Information (Details) - Performance Unit Awards $ / shares in Units, shares in Thousands, $ in Millions | 12 Months Ended |  |  |
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Dec. 31, 2022 USD ($) Component $ / shares shares | Dec. 31, 2021 USD ($) $ / shares shares | Dec. 31, 2020 USD ($) $ / shares shares | Oct. 28, 2022 $ / shares | Oct. 28, 2021 $ / shares | Oct. 28, 2020 $ / shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Share price (in dollars per share) | $ / shares | $ 23.28 | $ 23.54 | $ 23.86 | $ 29.38 | $ 29.88 | $ 32.05
Percentage of grant share price (as a percentage) | 126.20% | 126.90% | 134.30% |  |  |
Number of components companies in the Philadelphia Oil Service Index | Component | 15 |  |  |  |  |
Performance unit compensation expense | $ 2.9 | $ 5.5 | $ 4.0 |  |  |
Income tax benefit recognized | 0.0 | $ 0.7 | $ 0.8 |  |  |
Unrecognized compensation expense related to share based compensation | $ 5.6 |  |  |  |  |
Period of recognition for unrecognized compensation expense related to nonvested stock options (in years) | 2 years 2 months 12 days |  |  |  |  |
Anti-dilutive performance share units (in shares) | shares | 0 | 325 | 349 |  |  |
Minimum |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Participants earning under the term (as a percentage) | 0.00% |  |  |  |  |
Maximum |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |
Participants earning under the term (as a percentage) | 200.00% |  |  |  |  |

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- Definition Securities (including those issuable pursuant to contingent stock agreements) that could potentially dilute basic earnings per share (EPS) or earnings per unit (EPU) in the future that were not included in the computation of diluted EPS or EPU because to do so would increase EPS or EPU amounts or decrease loss per share or unit amounts for the period presented. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 260 -SubTopic 10 -Section 50 -Paragraph 1 -Subparagraph (c) -URI https://asc.fasb.org/extlink&oid=124432515&loc=d3e3550-109257 + Details
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