Business Segment Information - Financial Data By Business Segment (Details) - USD ($) $ in Thousands	3 Months Ended			6 Months Ended
	Jun. 30, 2022	Mar. 31, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021	Dec. 31, 2021
Segment Reporting Information [Line Items]
Goodwill	$ 34,382			$ 34,382		$ 34,908
Document Period End Date				Jun. 30, 2022
Other adjustments to Income from continuing operations					$ 1,308
Total adjustments to Income from continuing operations		$ 2,723	$ 1,415
Depreciation	29,000	30,000	35,000	$ 59,000	70,000
Revenue	524,031	446,159	498,199	970,190	935,752
Income (Loss) from Operations	22,850	(1,039)	22,819	21,811	36,602
Depreciation and amortization	30,860	32,019	35,225	62,879	71,696
Amortization of Intangible Assets	1,900	1,600	800	3,500	2,100
Gain (Loss) on Disposition of Other Assets			1,415		1,415
Segment Reporting, Other Significant Reconciling Item [Line Items]
Depreciation and amortization	30,860	32,019	35,225	62,879	71,696
Other adjustments to Income from continuing operations					1,308
Total adjustments to Income from continuing operations		2,723	1,415
Depreciation	29,000	30,000	35,000	59,000	70,000
Amortization of Intangible Assets	1,900	1,600	800	3,500	2,100
Gain (Loss) on Disposition of Other Assets			1,415		1,415
Segment Reporting, Asset Reconciling Item [Line Items]
Assets	1,872,423			1,872,423		1,962,859
Property, Plant and Equipment, Net	455,304			455,304		489,596
Goodwill	34,382			34,382		$ 34,908
Income (Loss) from Operations	22,850	(1,039)	22,819	21,811	36,602
Subsea Robotics Member
Segment Reporting Information [Line Items]
Other adjustments to Income from continuing operations					395
Total adjustments to Income from continuing operations		395	0
Revenue	157,123	127,989	141,371	285,112	260,490
Income (Loss) from Operations	25,938	11,552	21,710	37,490	36,329
Depreciation and amortization	17,531	19,001	22,436	36,532	45,388
Segment Reporting, Other Significant Reconciling Item [Line Items]
Depreciation and amortization	17,531	19,001	22,436	36,532	45,388
Other adjustments to Income from continuing operations					395
Total adjustments to Income from continuing operations		395	0
Segment Reporting, Asset Reconciling Item [Line Items]
Income (Loss) from Operations	25,938	11,552	21,710	37,490	36,329
Manufactured Products Member
Segment Reporting Information [Line Items]
Other adjustments to Income from continuing operations					537
Total adjustments to Income from continuing operations		537	0
Revenue	105,456	82,692	79,127	188,148	165,952
Income (Loss) from Operations	(1,365)	2,643	790	1,278	3,543
Depreciation and amortization	3,020	3,072	3,248	6,092	6,475
Segment Reporting, Other Significant Reconciling Item [Line Items]
Depreciation and amortization	3,020	3,072	3,248	6,092	6,475
Other adjustments to Income from continuing operations					537
Total adjustments to Income from continuing operations		537	0
Segment Reporting, Asset Reconciling Item [Line Items]
Income (Loss) from Operations	(1,365)	2,643	790	1,278	3,543
Offshore Projects Group
Segment Reporting Information [Line Items]
Other adjustments to Income from continuing operations					149
Total adjustments to Income from continuing operations		149	0
Revenue	116,457	97,397	107,951	213,854	197,185
Income (Loss) from Operations	17,535	666	7,996	18,201	16,809
Depreciation and amortization	7,107	7,297	6,862	14,404	13,987
Segment Reporting, Other Significant Reconciling Item [Line Items]
Depreciation and amortization	7,107	7,297	6,862	14,404	13,987
Other adjustments to Income from continuing operations					149
Total adjustments to Income from continuing operations		149	0
Segment Reporting, Asset Reconciling Item [Line Items]
Income (Loss) from Operations	17,535	666	7,996	18,201	16,809
Integrity Managements & Digital Solutions Member
Segment Reporting Information [Line Items]
Other adjustments to Income from continuing operations					217
Total adjustments to Income from continuing operations		217	0
Revenue	59,438	56,570	64,070	116,008	118,118
Income (Loss) from Operations	3,436	3,508	4,721	6,944	7,195
Depreciation and amortization	1,034	1,030	1,091	2,064	2,215
Segment Reporting, Other Significant Reconciling Item [Line Items]
Depreciation and amortization	1,034	1,030	1,091	2,064	2,215
Other adjustments to Income from continuing operations					217
Total adjustments to Income from continuing operations		217	0
Segment Reporting, Asset Reconciling Item [Line Items]
Income (Loss) from Operations	3,436	3,508	4,721	6,944	7,195
Aerospace and Defense Technologies Member
Segment Reporting Information [Line Items]
Other adjustments to Income from continuing operations					10
Total adjustments to Income from continuing operations		10	0
Revenue	85,557	81,511	105,680	167,068	194,007
Income (Loss) from Operations	8,961	11,844	19,340	20,805	36,179
Depreciation and amortization	821	656	1,404	1,477	2,680
Segment Reporting, Other Significant Reconciling Item [Line Items]
Depreciation and amortization	821	656	1,404	1,477	2,680
Other adjustments to Income from continuing operations					10
Total adjustments to Income from continuing operations		10	0
Segment Reporting, Asset Reconciling Item [Line Items]
Income (Loss) from Operations	8,961	11,844	19,340	20,805	36,179
Energy Services and Products Member
Segment Reporting Information [Line Items]
Revenue	438,474	364,648	392,519	803,122	741,745
Income (Loss) from Operations	45,544	18,369	35,217	63,913	63,876
Depreciation and amortization	28,692	30,400	33,637	59,092	68,065
Segment Reporting, Other Significant Reconciling Item [Line Items]
Depreciation and amortization	28,692	30,400	33,637	59,092	68,065
Segment Reporting, Asset Reconciling Item [Line Items]
Income (Loss) from Operations	45,544	18,369	35,217	63,913	63,876
Unallocated Expenses [Member]
Segment Reporting Information [Line Items]
Income (Loss) from Operations	(31,655)	(31,252)	(31,738)	(62,907)	(63,453)
Depreciation and amortization	1,347	963	184	2,310	951
Segment Reporting, Other Significant Reconciling Item [Line Items]
Depreciation and amortization	1,347	963	184	2,310	951
Segment Reporting, Asset Reconciling Item [Line Items]
Income (Loss) from Operations	$ (31,655)	(31,252)	(31,738)	$ (62,907)	(63,453)
Unallocated Expense Member
Segment Reporting Information [Line Items]
Total adjustments to Income from continuing operations		1,415	1,415
Gain (Loss) on Disposition of Other Assets			1,415		1,415
Segment Reporting, Other Significant Reconciling Item [Line Items]
Total adjustments to Income from continuing operations		$ 1,415	1,415
Gain (Loss) on Disposition of Other Assets			$ 1,415		$ 1,415