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Property and Equipment (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Property and Equipment    
Property and equipment, Gross $ 241,955 $ 254,679
Less accumulated depreciation (225,447) (234,211)
Property and equipment, net 16,508 20,468
Land, building and other    
Property and Equipment    
Property and equipment, Gross $ 13,476 $ 13,440
Land, building and other | Minimum    
Property and Equipment    
Estimated useful lives of property and equipment (in years) 3 years 3 years
Land, building and other | Maximum    
Property and Equipment    
Estimated useful lives of property and equipment (in years) 40 years 40 years
Recording equipment    
Property and Equipment    
Property and equipment, Gross $ 140,156 $ 154,132
Recording equipment | Minimum    
Property and Equipment    
Estimated useful lives of property and equipment (in years) 5 years 5 years
Recording equipment | Maximum    
Property and Equipment    
Estimated useful lives of property and equipment (in years) 10 years 10 years
Vibrator energy sources    
Property and Equipment    
Property and equipment, Gross $ 64,690 $ 64,110
Vibrator energy sources | Minimum    
Property and Equipment    
Estimated useful lives of property and equipment (in years) 5 years 5 years
Vibrator energy sources | Maximum    
Property and Equipment    
Estimated useful lives of property and equipment (in years) 15 years 15 years
Vehicles    
Property and Equipment    
Property and equipment, Gross $ 23,633 $ 22,997
Vehicles | Minimum    
Property and Equipment    
Estimated useful lives of property and equipment (in years) 1 year 6 months 1 year 6 months
Vehicles | Maximum    
Property and Equipment    
Estimated useful lives of property and equipment (in years) 10 years 10 years