Equipment Acquisitions and Dispositions - Additional Information (Details) $ in Thousands	3 Months Ended
	Mar. 31, 2023 USD ($)	Mar. 31, 2022 USD ($) Vessel
Property Plant And Equipment [Line Items]
Equipment deliveries	$ 0
Proceeds from disposition of property and equipment	7,611	$ 5,310
Gain (loss) on disposition of property, plant and equipment		$ 3,100
Platform Supply Vessels
Property Plant And Equipment [Line Items]
Payments to acquire property, plant, and equipment, including fair value hedges	500
Liftboat
Property Plant And Equipment [Line Items]
Number of equipment sold | Vessel		1
Proceeds from disposition of property and equipment		$ 5,300
Platform Supply Vessels And Fast Support Vessels
Property Plant And Equipment [Line Items]
Proceeds from disposition of property and equipment	7,600
Gain (loss) on disposition of property, plant and equipment	$ 2,600