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Segments and Related Information - Supplemental Disaggregated Revenue (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Revenues from External Customers and Long-Lived Assets [Line Items]      
Revenues $ 782,283 $ 737,706 $ 573,161
Products      
Revenues from External Customers and Long-Lived Assets [Line Items]      
Revenues 418,550 385,564 299,293
Services      
Revenues from External Customers and Long-Lived Assets [Line Items]      
Revenues 363,733 352,142 273,868
Offshore/Manufactured Products      
Revenues from External Customers and Long-Lived Assets [Line Items]      
Revenues 441,263 381,723 298,729
Offshore/Manufactured Products | Project-driven:      
Revenues from External Customers and Long-Lived Assets [Line Items]      
Revenues 302,481 257,008 209,441
Offshore/Manufactured Products | Project-driven: | Products      
Revenues from External Customers and Long-Lived Assets [Line Items]      
Revenues 189,739 158,040 122,097
Offshore/Manufactured Products | Project-driven: | Services      
Revenues from External Customers and Long-Lived Assets [Line Items]      
Revenues 112,742 98,968 87,344
Offshore/Manufactured Products | Military and other products      
Revenues from External Customers and Long-Lived Assets [Line Items]      
Revenues 32,596 32,563 24,114
Offshore/Manufactured Products | Short-cycle:      
Revenues from External Customers and Long-Lived Assets [Line Items]      
Revenues 106,186 92,152 65,174
Offshore/Manufactured Products | Short-cycle: | Products      
Revenues from External Customers and Long-Lived Assets [Line Items]      
Revenues 106,186 92,152 65,174
Offshore/Manufactured Products | Short-cycle: | Services      
Revenues from External Customers and Long-Lived Assets [Line Items]      
Revenues 0 0 0
Well Site Services      
Revenues from External Customers and Long-Lived Assets [Line Items]      
Revenues 242,633 231,189 170,940
Well Site Services | Project-driven:      
Revenues from External Customers and Long-Lived Assets [Line Items]      
Revenues 0 0 0
Well Site Services | Project-driven: | Products      
Revenues from External Customers and Long-Lived Assets [Line Items]      
Revenues 0 0 0
Well Site Services | Project-driven: | Services      
Revenues from External Customers and Long-Lived Assets [Line Items]      
Revenues 0 0 0
Well Site Services | Military and other products      
Revenues from External Customers and Long-Lived Assets [Line Items]      
Revenues 0 0 0
Well Site Services | Short-cycle:      
Revenues from External Customers and Long-Lived Assets [Line Items]      
Revenues 242,633 231,189 170,940
Well Site Services | Short-cycle: | Products      
Revenues from External Customers and Long-Lived Assets [Line Items]      
Revenues 0 0 0
Well Site Services | Short-cycle: | Services      
Revenues from External Customers and Long-Lived Assets [Line Items]      
Revenues 242,633 231,189 170,940
Downhole Technologies      
Revenues from External Customers and Long-Lived Assets [Line Items]      
Revenues 98,387 124,794 103,492
Downhole Technologies | Project-driven:      
Revenues from External Customers and Long-Lived Assets [Line Items]      
Revenues 0 0 0
Downhole Technologies | Project-driven: | Products      
Revenues from External Customers and Long-Lived Assets [Line Items]      
Revenues 0 0 0
Downhole Technologies | Project-driven: | Services      
Revenues from External Customers and Long-Lived Assets [Line Items]      
Revenues 0 0 0
Downhole Technologies | Military and other products      
Revenues from External Customers and Long-Lived Assets [Line Items]      
Revenues 0 0 0
Downhole Technologies | Short-cycle:      
Revenues from External Customers and Long-Lived Assets [Line Items]      
Revenues 98,387 124,794 103,492
Downhole Technologies | Short-cycle: | Products      
Revenues from External Customers and Long-Lived Assets [Line Items]      
Revenues 90,029 102,808 87,908
Downhole Technologies | Short-cycle: | Services      
Revenues from External Customers and Long-Lived Assets [Line Items]      
Revenues $ 8,358 $ 21,986 $ 15,584