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Business Segment Information - Intercompany Segment Revenues (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020
Segment Reporting Information [Line Items]
Net revenues	$ (161,941)	$ (199,147)	$ (325,356)	$ (380,168)
Well Intervention
Segment Reporting Information [Line Items]
Net revenues	(132,305)	(145,841)	(266,073)	(286,493)
Robotics
Segment Reporting Information [Line Items]
Net revenues	(31,651)	(50,836)	(53,807)	(86,094)
Intercompany Eliminations
Segment Reporting Information [Line Items]
Net revenues	16,233	11,123	25,189	21,553
Intercompany Eliminations | Well Intervention
Segment Reporting Information [Line Items]
Net revenues	10,206	3,910	12,793	7,214
Intercompany Eliminations | Robotics
Segment Reporting Information [Line Items]
Net revenues	$ 6,027	$ 7,213	$ 12,396	$ 14,339

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Amount, excluding tax collected from customer, of revenue from satisfaction of performance obligation by transferring promised good or service to customer. Tax collected from customer is tax assessed by governmental authority that is both imposed on and concurrent with specific revenue-producing transaction, including, but not limited to, sales, use, value added and excise.

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