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Stock-Based Compensation and Stock Awards - Performance Unit Awards - Additional Information (Details) - Performance Unit Awards
$ / shares in Units, shares in Thousands, $ in Millions
12 Months Ended
Dec. 31, 2022
USD ($)
Component
$ / shares
shares
Dec. 31, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
shares
Oct. 28, 2022
$ / shares
Oct. 28, 2021
$ / shares
Oct. 28, 2020
$ / shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Share price (in dollars per share) | $ / shares $ 23.28 $ 23.54 $ 23.86 $ 29.38 $ 29.88 $ 32.05
Percentage of grant share price (as a percentage) 126.20% 126.90% 134.30%      
Number of components companies in the Philadelphia Oil Service Index | Component 15          
Performance unit compensation expense $ 2.9 $ 5.5 $ 4.0      
Income tax benefit recognized 0.0 $ 0.7 $ 0.8      
Unrecognized compensation expense related to share based compensation $ 5.6          
Period of recognition for unrecognized compensation expense related to nonvested stock options (in years) 2 years 2 months 12 days          
Anti-dilutive performance share units (in shares) | shares 0 325 349      
Minimum            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Participants earning under the term (as a percentage) 0.00%          
Maximum            
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]            
Participants earning under the term (as a percentage) 200.00%