Leases - Additional Information (Details)	3 Months Ended
	Mar. 31, 2021 Vessel
Anchor Handling Towing Supply Vessels
Lessee Lease Description [Line Items]
Number of operating leases on equipment	2
Liftboats
Lessee Lease Description [Line Items]
Number of operating leases on equipment	1
Fast Support Vessels
Lessee Lease Description [Line Items]
Number of operating leases on equipment	1
Vessels | Minimum
Lessee Lease Description [Line Items]
Operating lease, lease terms (in duration)	4 months
Vessels | Maximum
Lessee Lease Description [Line Items]
Operating lease, lease terms (in duration)	9 months
Other Equipment | Minimum
Lessee Lease Description [Line Items]
Operating lease, lease terms (in duration)	8 months
Other Equipment | Maximum
Lessee Lease Description [Line Items]
Operating lease, lease terms (in duration)	309 months