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Revenue, Contract Assets and Liabilities and Other Contract Matters - Additional Information (Details) | 9 Months Ended | 12 Months Ended |
--- | --- | --- | ---
Sep. 30, 2019 USD ($) | Dec. 31, 2019 USD ($) vessel Vechicle Project | Dec. 31, 2018 USD ($) | Dec. 31, 2017 USD ($) | Dec. 31, 2020
Long Term Contracts Or Programs Disclosure [Line Items] |  |  |  |  |
Bad debt expense |  | $ 59,000 | $ 30,000 | $ 21,000 |
Allowance for bad debt |  | 15,000,000 | 400,000 |  |
Reduction of estimated contract price for liquidated damages, amount |  | 12,900,000 | 11,200,000 | 11,200,000 |
Change in estimated margins |  | 17,200,000 | 9,100,000 | $ 34,500,000 |
Reversal of gross profit recognized | $ 2,500,000 | $ 800,000 |  |  |
Number of research vessels projects | vessel |  | 3 |  |  |
Contract assets, noncurrent |  | $ 12,452,000 | 12,452,000 |  |
Retainage |  | $ 3,000,000 | 3,000,000 |  |
Shipyard |  |  |  |  |
Long Term Contracts Or Programs Disclosure [Line Items] |  |  |  |  |
Number of projects in a loss position | Project |  | 2 |  |  |
Harbor tug |  |  |  |  |
Long Term Contracts Or Programs Disclosure [Line Items] |  |  |  |  |
Change in estimated margins |  | $ 4,900,000 | 6,700,000 |  |
Reserve for loss |  | $ 1,600,000 |  |  |
Harbor tug | Minimum |  |  |  |  |
Long Term Contracts Or Programs Disclosure [Line Items] |  |  |  |  |
Projects, percent complete (percentage) |  | 60.00% |  |  |
Harbor tug | Maximum |  |  |  |  |
Long Term Contracts Or Programs Disclosure [Line Items] |  |  |  |  |
Projects, percent complete (percentage) |  | 93.00% |  |  |
Ice-Breaker Tug |  |  |  |  |
Long Term Contracts Or Programs Disclosure [Line Items] |  |  |  |  |
Change in estimated margins |  | $ 1,500,000 |  |  |
Projects, percent complete (percentage) |  | 91.00% |  |  |
Reserve for loss |  | $ 100,000 |  |  |
Forty-Vehicle Ferry |  |  |  |  |
Long Term Contracts Or Programs Disclosure [Line Items] |  |  |  |  |
Change in estimated margins |  | $ 5,100,000 |  |  |
Projects, percent complete (percentage) |  | 28.00% |  |  |
Reserve for loss |  | $ 3,000,000 |  |  |
Number of vehicle ferry projects | Vechicle |  | 2 |  |  |
Forty-Vehicle Ferry | Scenario Forecast |  |  |  |  |
Long Term Contracts Or Programs Disclosure [Line Items] |  |  |  |  |
Projects, percent complete (percentage) |  |  |  |  | 53.00%
Paddle Wheel River Boat |  |  |  |  |
Long Term Contracts Or Programs Disclosure [Line Items] |  |  |  |  |
Change in estimated margins |  | $ 1,300,000 |  |  |
Projects, percent complete (percentage) |  | 88.00% |  |  |
Reserve for loss |  | $ 200,000 |  |  |
Jack and Deck |  |  |  |  |
Long Term Contracts Or Programs Disclosure [Line Items] |  |  |  |  |
Change in estimated margins |  | $ 2,000,000 |  |  |
Projects, percent complete (percentage) |  | 46.00% |  |  |
Reserve for loss |  | $ 1,100,000 |  |  |
Subsea Components Project |  |  |  |  |
Long Term Contracts Or Programs Disclosure [Line Items] |  |  |  |  |
Change in estimated margins |  | $ 1,600,000 |  |  |
Projects, percent complete (percentage) |  | 86.00% |  |  |
Reserve for loss |  | $ 200,000 |  |  |
Petrochemical Modules Project |  |  |  |  |
Long Term Contracts Or Programs Disclosure [Line Items] |  |  |  |  |
Change in estimated margins |  |  | $ 2,400,000 |  |

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