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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