Business Segment Information - Financial Data By Business Segment (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Dec. 31, 2022	Mar. 31, 2022
Segment Reporting Information [Line Items]
Goodwill	$ 34,108	$ 34,339
Depreciation, Depletion and Amortization	$ 27,821		$ 32,019
Document Period End Date	Mar. 31, 2023
Depreciation	$ 26,000	26,000	30,000
Revenue	536,987	536,223	446,159
Income (Loss) from Operations	26,750	42,177	(1,039)
Depreciation and amortization	27,821	27,841	32,019
Amortization of Intangible Assets	1,700	1,700	1,600
Segment Reporting, Other Significant Reconciling Item [Line Items]
Depreciation and amortization	27,821	27,841	32,019
Depreciation	26,000	26,000	30,000
Amortization of Intangible Assets	1,700	1,700	1,600
Segment Reporting, Asset Reconciling Item [Line Items]
Assets	2,042,478	2,031,683
Property, Plant and Equipment, Net	427,370	438,449
Goodwill	34,108	34,339
Income (Loss) from Operations	26,750	42,177	(1,039)
Subsea Robotics Member
Segment Reporting Information [Line Items]
Revenue	169,161	167,387	127,989
Income (Loss) from Operations	33,654	43,689	11,552
Depreciation and amortization	14,940	15,139	19,001
Segment Reporting, Other Significant Reconciling Item [Line Items]
Depreciation and amortization	14,940	15,139	19,001
Segment Reporting, Asset Reconciling Item [Line Items]
Income (Loss) from Operations	33,654	43,689	11,552
Manufactured Products Member
Segment Reporting Information [Line Items]
Revenue	112,939	100,174	82,692
Income (Loss) from Operations	11,280	6,132	2,643
Depreciation and amortization	3,044	2,915	3,072
Segment Reporting, Other Significant Reconciling Item [Line Items]
Depreciation and amortization	3,044	2,915	3,072
Segment Reporting, Asset Reconciling Item [Line Items]
Income (Loss) from Operations	11,280	6,132	2,643
Offshore Projects Group
Segment Reporting Information [Line Items]
Revenue	104,307	122,476	97,397
Income (Loss) from Operations	5,514	10,745	666
Depreciation and amortization	7,128	7,024	7,297
Segment Reporting, Other Significant Reconciling Item [Line Items]
Depreciation and amortization	7,128	7,024	7,297
Segment Reporting, Asset Reconciling Item [Line Items]
Income (Loss) from Operations	5,514	10,745	666
Integrity Managements & Digital Solutions Member
Segment Reporting Information [Line Items]
Revenue	60,083	55,411	56,570
Income (Loss) from Operations	3,082	4,866	3,508
Depreciation and amortization	858	840	1,030
Segment Reporting, Other Significant Reconciling Item [Line Items]
Depreciation and amortization	858	840	1,030
Segment Reporting, Asset Reconciling Item [Line Items]
Income (Loss) from Operations	3,082	4,866	3,508
Aerospace and Defense Technologies Member
Segment Reporting Information [Line Items]
Revenue	90,497	90,775	81,511
Income (Loss) from Operations	8,496	10,320	11,844
Depreciation and amortization	653	705	656
Segment Reporting, Other Significant Reconciling Item [Line Items]
Depreciation and amortization	653	705	656
Segment Reporting, Asset Reconciling Item [Line Items]
Income (Loss) from Operations	8,496	10,320	11,844
Energy Services and Products Member
Segment Reporting Information [Line Items]
Revenue	446,490	445,448	364,648
Income (Loss) from Operations	53,530	65,432	18,369
Depreciation and amortization	25,970	25,918	30,400
Segment Reporting, Other Significant Reconciling Item [Line Items]
Depreciation and amortization	25,970	25,918	30,400
Segment Reporting, Asset Reconciling Item [Line Items]
Income (Loss) from Operations	53,530	65,432	18,369
Unallocated Expenses [Member]
Segment Reporting Information [Line Items]
Income (Loss) from Operations	(35,276)	(33,575)	(31,252)
Depreciation and amortization	1,198	1,218	963
Segment Reporting, Other Significant Reconciling Item [Line Items]
Depreciation and amortization	1,198	1,218	963
Segment Reporting, Asset Reconciling Item [Line Items]
Income (Loss) from Operations	$ (35,276)	$ (33,575)	$ (31,252)