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Commitments and Contingencies - Additional Information (Details) $ in Millions |  | 3 Months Ended | 9 Months Ended |
--- | --- | --- | --- | ---
Mar. 19, 2018 USD ($) | Sep. 30, 2023 USD ($) | Sep. 30, 2023 USD ($) | Mar. 31, 2018 Vessel
Loss Contingencies [Line Items] |  |  |  |
Number of multi-purpose service vessels | Vessel |  |  |  | 2
Litigation charge |  | $ 32.5 | $ 32.5 |
Non-cash litigation charge associated with write-off of net contract asset |  | 12.5 |  |
Litigation charge associated with recording liability |  | $ 20.0 |  |
Surety Bond |  |  |  |
Loss Contingencies [Line Items] |  |  |  |
Claims under performance bonds issued | $ 50.0 |  |  |

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