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Commitments and Contingencies - Additional Information - Petrobras (Details) - Petrobras - USD ($)
$ in Millions
1 Months Ended 12 Months Ended
Mar. 31, 2016
Dec. 31, 2017
Dec. 31, 2016
Loss Contingencies [Line Items]      
Loss contingency accrual     $ 5.4
FPSO      
Loss Contingencies [Line Items]      
Percentage of rate reduction claim   2.00%  
Estimated claim $ 10.9    
Loss contingency accrual   $ 10.0  
Range of possible losses in addition to what has already been accrued   $ 0.9