Commitments and Contingencies - Additional Information (Details) $ in Millions	3 Months Ended
	Jun. 30, 2021 USD ($) vessel	Dec. 31, 2020 USD ($)
Loss Contingencies [Line Items]
Number of multi-purpose service vessels | vessel	2
Contract asset under dispute, noncurrent	$ 12.5	$ 12.5
Surety Bond
Loss Contingencies [Line Items]
Claims under performance bonds issued	$ 50.0