Stock-Based Compensation and Stock Awards - Performance Unit Awards - Additional Information (Details) - Performance Unit Awards [Member] $ / shares in Units, $ in Millions	12 Months Ended
	Dec. 31, 2023 USD ($) Component $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares	Dec. 31, 2021 USD ($) $ / shares shares	Oct. 28, 2023 $ / shares	Oct. 28, 2022 $ / shares	Oct. 28, 2021 $ / shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share price (in dollars per share) | $ / shares	$ 22.78	$ 23.28	$ 23.54	$ 24.8	$ 29.38	$ 29.88
Percentage of grant share price (as a percentage)	108.90%	126.20%	126.90%
Number of components companies in the Philadelphia Oil Service Index | Component	15
Performance unit compensation expense	$ 3.5	$ 2.9	$ 5.5
Income tax benefit recognized	0.0	$ 0.0	$ 0.7
Unrecognized compensation expense related to share based compensation	$ 6.8
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	0	325,000
Minimum [Member]
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%