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Commitments and Contingencies - Additional Information (Details) $ in Millions | 3 Months Ended |  |
--- | --- | --- | ---
Mar. 31, 2018 USD ($) vessel | Dec. 31, 2020 USD ($) vessel | Dec. 31, 2019 USD ($) vessel
Loss Contingencies [Line Items] |  |  |
Number of multi-purpose service vessels | vessel | 2 | 2 | 2
Contract asset under dispute, noncurrent |  | $ 12.5 | $ 12.5
Surety Bond |  |  |
Loss Contingencies [Line Items] |  |  |
Claims under performance bonds issued | $ 50.0 |  |

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