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Business Segments - Additional Information (Details) $ in Thousands | 3 Months Ended | 12 Months Ended
--- | --- | ---
Mar. 31, 2023 Segment | Dec. 31, 2021 USD ($) | Dec. 31, 2023 USD ($) Segment Customer | Dec. 31, 2022 USD ($) Customer | Dec. 31, 2021 USD ($) Customer
Concentration Risk [Line Items] |  |  |  |  |
Inventory write-down |  |  | $ 0 | $ 0 | $ 66,910
Number of reportable business segments | Segment | 3 |  | 3 |  |
Number of geographic segments | Segment | 3 |  |  |  |
Restructuring and Related Cost, Incurred Cost |  |  | $ 0 |  |
Revenues |  |  | $ 424,060 | $ 361,924 | $ 322,448
Number of major customers | Customer |  |  | 15 | 15 | 15
Long-lived asset write-down |  |  | $ 0 | $ 5,678 | $ 4,240
No other customer |  |  |  |  |
Concentration Risk [Line Items] |  |  |  |  |
Number of major customers | Customer |  |  | 0 | 0 | 0
2021 Global Strategic Plan |  |  |  |  |
Concentration Risk [Line Items] |  |  |  |  |
Inventory write-down |  | $ 47,700 |  |  |
Restructuring and Related Cost, Incurred Cost |  |  | $ 3,200 | $ 13,400 |
Well construction | 2021 Global Strategic Plan |  |  |  |  |
Concentration Risk [Line Items] |  |  |  |  |
Restructuring and Related Cost, Incurred Cost |  |  | (1,900) |  |
Subsea Services | 2021 Global Strategic Plan |  |  |  |  |
Concentration Risk [Line Items] |  |  |  |  |
Restructuring and Related Cost, Incurred Cost |  |  | 400 |  |
Subsea Products | 2021 Global Strategic Plan |  |  |  |  |
Concentration Risk [Line Items] |  |  |  |  |
Restructuring and Related Cost, Incurred Cost |  |  | $ 2,500 |  |
Customer Concentration Risk | Revenue from Contract with Customer, Product and Service Benchmark | No other customer |  |  |  |  |
Concentration Risk [Line Items] |  |  |  |  |
Concentration Risk, Percentage |  |  | 10.00% | 10.00% | 10.00%
Customer Concentration Risk | Revenue from Contract with Customer, Product and Service Benchmark | Customer 15 |  |  |  |  |
Concentration Risk [Line Items] |  |  |  |  |
Concentration Risk, Percentage |  |  | 59.00% | 60.00% | 59.00%
Customer Concentration Risk | Revenue from Contract with Customer, Product and Service Benchmark | Chevron |  |  |  |  |
Concentration Risk [Line Items] |  |  |  |  |
Concentration Risk, Percentage |  |  | 11.00% | 10.00% | 12.00%
Non-US |  |  |  |  |
Concentration Risk [Line Items] |  |  |  |  |
Revenues |  |  | $ 317,600 | $ 239,600 | $ 205,700
US |  |  |  |  |
Concentration Risk [Line Items] |  |  |  |  |
Revenues |  |  | $ 106,400 | 122,300 | 116,700
Previously Reported |  |  |  |  |
Concentration Risk [Line Items] |  |  |  |  |
Number of geographic segments | Segment |  |  | 3 |  |
Revenues |  |  |  | $ 362,070 | $ 322,945

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