Revenue (Tables)

3 Months Ended

Mar. 31, 2023

Revenue from Contract with Customer [Abstract]

Revenue from External Customers by Products and Services

			Three Months Ended
(in thousands)			Mar 31, 2023		Mar 31, 2022
Business Segment:
	Energy
		Subsea Robotics	$	169,161	$	127,989
		Manufactured Products	112,939		82,692
		Offshore Projects Group	104,307		97,397
		Integrity Management & Digital Solutions	60,083		56,570
	Total Energy		446,490		364,648
	Aerospace and Defense Technologies		90,497		81,511
		Total	$	536,987	$	446,159
Geographic Operating Areas:
	Foreign:
		Africa	$	83,728	$	63,409
		Asia and Australia	52,894		49,561
		Norway	44,940		45,277
		Brazil	40,615		30,351
		United Kingdom	40,365		38,757
		Other	25,173		23,048
	Total Foreign		287,715		250,403
	United States		249,272		195,756
Total			$	536,987	$	446,159
Timing of Transfer of Goods or Services:
	Revenue recognized over time		$	495,484	$	417,003
	Revenue recognized at a point in time		41,503		29,156
Total			$	536,987	$	446,159

Contract with Customer, Asset and Liability [Table Text Block]

The following table provides information about contract assets and contract liabilities from contracts with customers.

	Three months ended
(in thousands)	Mar 31, 2023		Mar 31, 2022
Total contract assets, beginning of period	$	184,847	$	164,847
Revenue accrued	499,501		414,636
Amounts billed	(473,933)		(407,532)
Total contract assets, end of period	$	210,415	$	171,951
Total contract liabilities, beginning of period	$	112,950	$	88,175
Deferrals of milestone payments	49,513		27,101
Recognition of revenue for goods and services	(39,766)		(30,507)
Total contract liabilities, end of period	$	122,697	$	84,769