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Commitments and Contingencies - Additional Information (Details) $ in Millions | Sep. 30, 2020 USD ($) vessel | Dec. 31, 2019 USD ($) | Mar. 31, 2018 vessel
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Commitments And Contingencies Disclosure [Abstract] |  |  |
Number of multi-purpose service vessels | vessel | 2 |  | 2
Net contract asset | $ | $ 12.5 | $ 12.5 |

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