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Revenue, Contract Assets and Liabilities and Other Contract Matters - Summary of Contract with Customer, Asset and Liability (Parenthetical) (Details) $ in Millions | 12 Months Ended |
--- | --- | ---
Dec. 31, 2020 USD ($) vessel | Dec. 31, 2019 USD ($) vessel | Dec. 31, 2018 USD ($) | Mar. 31, 2018 vessel
Revenue From Contract With Customer [Abstract] |  |  |  |
Number of multi-purpose service vessels | vessel | 2 | 2 |  | 2
Contract asset under dispute, noncurrent | $ 12.5 | $ 12.5 |  |
Contract with customer, liability, revenue recognized | 18.2 | 14.3 | $ 5.1 |
Contract with customer, liability, accrued contract losses, current | $ 8.6 | $ 6.4 |  |

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- Definition Construction in progress, number of multi-purpose service vessels. + References No definition available. + Details
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- Definition Contract asset under dispute noncurrent. + References No definition available. + Details
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- Definition Contract with customer liability accrued contract losses current. + References No definition available. + Details
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- Definition Amount of revenue recognized that was previously included in balance of obligation to transfer good or service to customer for which consideration from customer has been received or is due. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 606 -SubTopic 10 -Section 50 -Paragraph 8 -Subparagraph (b) -URI http://asc.fasb.org/extlink&oid=121604090&loc=SL49130549-203045 + Details
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- References No definition available. + Details
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