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Summary of Significant Accounting Policies - Narrative (Details) |  | 12 Months Ended |  |  |
--- | --- | --- | --- | --- | ---
Jan. 01, 2021 USD ($) | Dec. 31, 2023 USD ($) renewal_option | Dec. 31, 2022 USD ($) | Dec. 31, 2021 USD ($) | Mar. 19, 2021 | Dec. 31, 2020 | Jan. 30, 2018
Debt Instrument [Line Items] |  |  |  |  |  |  |
Goodwill, net |  | $ 79,867,000 | $ 79,282,000 |  |  |  |
Impairments of fixed and lease assets |  | $ 0 | 0 | $ 4,166,000 |  |  |
Number of renewal options | renewal_option |  | 1 |  |  |  |  |
Research and development expense |  | $ 4,500,000 | 3,500,000 | 4,400,000 |  |  |
Derivative, notional amount |  | $ 0 | 0 |  |  |  |
Product warranty period minimum |  | 12 months |  |  |  |  |
Product warranty period maximum |  | 18 months |  |  |  |  |
Maximum amount of potential payment under guarantor obligation |  | $ 15,200,000 |  |  |  |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Explanation |  | 216.8 million of remaining backlog related to contracts with an original expected duration of greater than one year |  |  |  |  |
Offshore/Manufactured Products |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Goodwill, net |  | $ 79,867,000 | $ 79,282,000 | $ 76,412,000 |  |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-01-01 |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Revenue, remaining performance obligation, expected timing of satisfaction, period (in years) |  | 1 year |  |  |  |  |
Revenue, Remaining Performance Obligation, Percentage |  | 54.00% |  |  |  |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2025-01-01 |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Revenue, remaining performance obligation |  | $ 216,800,000 |  |  |  |  |
Revenue, remaining performance obligation, expected timing of satisfaction, period (in years) |  |  |  |  |  |  |
Revenue, Remaining Performance Obligation, Percentage |  | 46.00% |  |  |  |  |
Transferred at Point in Time |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Revenue from contract with customer, percentage of revenue (as a percent) |  | 34.00% | 35.00% | 35.00% |  |  |
Transferred over Time |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Revenue from contract with customer, percentage of revenue (as a percent) |  | 66.00% | 65.00% | 65.00% |  |  |
Minimum |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Operating lease, extension term |  | 1 year |  |  |  |  |
Maximum |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Operating lease, extension term |  | 20 years |  |  |  |  |
1.5% Convertible Unsecured Senior Notes |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Stated interest rate (as a percent) |  | 1.50% | 1.50% | 1.50% |  |  | 1.50%
1.5% Convertible Unsecured Senior Notes | Convertible Debt |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Effective interest rate percentage | 2.00% |  |  |  |  | 6.00% |
1.5% Convertible Unsecured Senior Notes | Cumulative Effect, Period of Adoption, Adjustment | Convertible Debt |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Debt instrument, increase net | $ 12,200,000 |  |  |  |  |  |
Decrease in deferred income taxes | 2,700,000 |  |  |  |  |  |
Net decrease, stockholder's equity | $ 9,500,000 |  |  |  |  |  |
4.75% Convertible Senior Notes |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Principal amount |  | $ 135,000,000 |  |  |  |  |
Stated interest rate (as a percent) |  | 4.75% | 4.75% | 4.75% | 4.75% |  |
4.75% Convertible Senior Notes | Level 2 | Fair Value |  |  |  |  |  |  |
Debt Instrument [Line Items] |  |  |  |  |  |  |
Long-term debt, fair value |  | $ 136,300,000 |  |  |  |  |

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