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Revenues - Schedule of Partnership Revenue (Details) - USD ($)
$ in Thousands
 1 Months Ended 12 Months Ended
Nov. 30, 2018
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Segment Reporting Information [Line Items]        
Revenue related to settlement agreement $ 55,000      
Amount due to the Partnership   $ 96,000    
Amount payable in late 2020   22,000    
Amount payable in late 2021   $ 19,000    
Payables to be reduced (as a percentage)   40.00%    
Revenues   $ 1,268,000 $ 1,416,424 $ 1,110,284
FPSO contracts        
Segment Reporting Information [Line Items]        
Revenues   421,363 481,700 458,388
Contracts of affreightment        
Segment Reporting Information [Line Items]        
Revenues   188,277 198,448 170,703
Time charters        
Segment Reporting Information [Line Items]        
Revenues   414,857 410,237 345,254
Bareboat charters        
Segment Reporting Information [Line Items]        
Revenues   49,789 62,142 88,864
Voyage charters        
Segment Reporting Information [Line Items]        
Revenues   107,013 101,759 47,075
Management fees and other        
Segment Reporting Information [Line Items]        
Revenues   86,701 162,138  
Eliminations        
Segment Reporting Information [Line Items]        
Revenues   0 (920) (8,886)
Eliminations | FPSO contracts        
Segment Reporting Information [Line Items]        
Revenues   0 0 0
Eliminations | Contracts of affreightment        
Segment Reporting Information [Line Items]        
Revenues   0 0 0
Eliminations | Time charters        
Segment Reporting Information [Line Items]        
Revenues   0 0 0
Eliminations | Bareboat charters        
Segment Reporting Information [Line Items]        
Revenues   0 0 0
Eliminations | Voyage charters        
Segment Reporting Information [Line Items]        
Revenues   0 (920) (8,886)
Eliminations | Management fees and other        
Segment Reporting Information [Line Items]        
Revenues   0 0  
FPSO Segment | Operating Segments        
Segment Reporting Information [Line Items]        
Revenues   492,658 533,186 458,388
FPSO Segment | Operating Segments | FPSO contracts        
Segment Reporting Information [Line Items]        
Revenues   421,363 481,700 458,388
FPSO Segment | Operating Segments | Contracts of affreightment        
Segment Reporting Information [Line Items]        
Revenues   0 0 0
FPSO Segment | Operating Segments | Time charters        
Segment Reporting Information [Line Items]        
Revenues   0 0 0
FPSO Segment | Operating Segments | Bareboat charters        
Segment Reporting Information [Line Items]        
Revenues   0 0 0
FPSO Segment | Operating Segments | Voyage charters        
Segment Reporting Information [Line Items]        
Revenues   0 0 0
FPSO Segment | Operating Segments | Management fees and other        
Segment Reporting Information [Line Items]        
Revenues   71,295 51,486  
Shuttle tanker segment        
Segment Reporting Information [Line Items]        
Revenue related to settlement agreement   55,000    
Shuttle tanker segment | Operating Segments        
Segment Reporting Information [Line Items]        
Revenues   549,587 636,413 536,852
Shuttle tanker segment | Operating Segments | FPSO contracts        
Segment Reporting Information [Line Items]        
Revenues   0 0 0
Shuttle tanker segment | Operating Segments | Contracts of affreightment        
Segment Reporting Information [Line Items]        
Revenues   188,277 198,448 170,703
Shuttle tanker segment | Operating Segments | Time charters        
Segment Reporting Information [Line Items]        
Revenues   293,095 294,112 284,281
Shuttle tanker segment | Operating Segments | Bareboat charters        
Segment Reporting Information [Line Items]        
Revenues   34,611 44,759 69,568
Shuttle tanker segment | Operating Segments | Voyage charters        
Segment Reporting Information [Line Items]        
Revenues   24,315 28,027 12,300
Shuttle tanker segment | Operating Segments | Management fees and other        
Segment Reporting Information [Line Items]        
Revenues   9,289 71,067  
FSO segment | Operating Segments        
Segment Reporting Information [Line Items]        
Revenues   140,117 136,557 66,901
FSO segment | Operating Segments | FPSO contracts        
Segment Reporting Information [Line Items]        
Revenues   0 0 0
FSO segment | Operating Segments | Contracts of affreightment        
Segment Reporting Information [Line Items]        
Revenues   0 0 0
FSO segment | Operating Segments | Time charters        
Segment Reporting Information [Line Items]        
Revenues   121,762 116,125 47,605
FSO segment | Operating Segments | Bareboat charters        
Segment Reporting Information [Line Items]        
Revenues   15,178 17,383 19,296
FSO segment | Operating Segments | Voyage charters        
Segment Reporting Information [Line Items]        
Revenues   0 0 0
FSO segment | Operating Segments | Management fees and other        
Segment Reporting Information [Line Items]        
Revenues   3,177 3,049  
UMS Segment        
Segment Reporting Information [Line Items]        
Revenue related to settlement agreement   36,500    
UMS Segment | Operating Segments        
Segment Reporting Information [Line Items]        
Revenues   2,940 36,536 4,236
UMS Segment | Operating Segments | FPSO contracts        
Segment Reporting Information [Line Items]        
Revenues   0 0 0
UMS Segment | Operating Segments | Contracts of affreightment        
Segment Reporting Information [Line Items]        
Revenues   0 0 0
UMS Segment | Operating Segments | Time charters        
Segment Reporting Information [Line Items]        
Revenues   0 0 4,236
UMS Segment | Operating Segments | Bareboat charters        
Segment Reporting Information [Line Items]        
Revenues   0 0 0
UMS Segment | Operating Segments | Voyage charters        
Segment Reporting Information [Line Items]        
Revenues   0 0 0
UMS Segment | Operating Segments | Management fees and other        
Segment Reporting Information [Line Items]        
Revenues   2,940 36,536  
Towage segment | Operating Segments        
Segment Reporting Information [Line Items]        
Revenues   74,726 53,327 38,771
Towage segment | Operating Segments | FPSO contracts        
Segment Reporting Information [Line Items]        
Revenues   0 0 0
Towage segment | Operating Segments | Contracts of affreightment        
Segment Reporting Information [Line Items]        
Revenues   0 0 0
Towage segment | Operating Segments | Time charters        
Segment Reporting Information [Line Items]        
Revenues   0 0 0
Towage segment | Operating Segments | Bareboat charters        
Segment Reporting Information [Line Items]        
Revenues   0 0 0
Towage segment | Operating Segments | Voyage charters        
Segment Reporting Information [Line Items]        
Revenues   74,726 53,327 38,771
Towage segment | Operating Segments | Management fees and other        
Segment Reporting Information [Line Items]        
Revenues   0 0  
Conventional Tanker Segment | Operating Segments        
Segment Reporting Information [Line Items]        
Revenues   7,972 21,325 14,022
Conventional Tanker Segment | Operating Segments | FPSO contracts        
Segment Reporting Information [Line Items]        
Revenues   0 0 0
Conventional Tanker Segment | Operating Segments | Contracts of affreightment        
Segment Reporting Information [Line Items]        
Revenues   0 0 0
Conventional Tanker Segment | Operating Segments | Time charters        
Segment Reporting Information [Line Items]        
Revenues   0 0 9,132
Conventional Tanker Segment | Operating Segments | Bareboat charters        
Segment Reporting Information [Line Items]        
Revenues   0 0 0
Conventional Tanker Segment | Operating Segments | Voyage charters        
Segment Reporting Information [Line Items]        
Revenues   7,972 21,325 $ 4,890
Conventional Tanker Segment | Operating Segments | Management fees and other        
Segment Reporting Information [Line Items]        
Revenues   $ 0 $ 0