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Details of Selected Balance Sheet Accounts - Narrative (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Concentration Risk [Line Items]        
Decrease in contract with customer, asset     $ (16,600)  
Contract with customer, asset, decrease due to revenue recognized     (39,900)  
Contract with customer, asset, reclassified to receivable     23,300  
Increase in deferred revenue     5,580 $ 7,496
Contract with customer, liability, increase due to billings     20,700  
Contract with customer, liability, revenue recognized     (15,100)  
Depreciation $ 11,100 $ 11,300 33,300 35,900
Amortization of intangible assets 4,300 $ 5,100 12,900 $ 15,500
Offshore/Manufactured Products        
Concentration Risk [Line Items]        
Carrying value of assets held for sale $ 17,200   $ 17,200  
United States | Geographic Concentration Risk | Accounts Receivable        
Concentration Risk [Line Items]        
Concentration risk (as a percent)     68.00%  
United Kingdom | Geographic Concentration Risk | Accounts Receivable        
Concentration Risk [Line Items]        
Concentration risk (as a percent)     11.00%