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Fair Value Measurements - Additional Information (Details) - USD ($)
3 Months Ended 12 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Dec. 31, 2022
Fair Value Balance Sheet Grouping Financial Statement Captions [Line Items]      
Impairment charges $ 0   $ 2,900,000
Impairment of long-lived assets owned or leased in vessels $ 0    
Fast Support Vessel      
Fair Value Balance Sheet Grouping Financial Statement Captions [Line Items]      
Impairment of long-lived assets held for sale   $ 900,000 900,000
Anchor Handling Towing Supply Vessel      
Fair Value Balance Sheet Grouping Financial Statement Captions [Line Items]      
Impairment of long-lived assets owned or leased in vessels     700,000
Tower and Gangway      
Fair Value Balance Sheet Grouping Financial Statement Captions [Line Items]      
Impairment of long-lived assets held for sale     $ 1,300,000