Business Segment Information - Financial Data By Business Segment (Details) - USD ($) $ in Thousands	3 Months Ended			6 Months Ended
	Jun. 30, 2023	Mar. 31, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022	Dec. 31, 2022
Segment Reporting Information [Line Items]
Goodwill	$ 34,062			$ 34,062		$ 34,339
Depreciation, Depletion and Amortization	26,046	$ 27,821	$ 30,860	$ 53,867
Document Period End Date				Jun. 30, 2023
Depreciation	24,000	26,000	29,000	$ 50,000	$ 59,000
Revenue	597,910	536,987	524,031	1,134,897	970,190
Income (Loss) from Operations	49,199	26,750	22,850	75,949	21,811
Depreciation and amortization					62,879
Amortization of Intangible Assets	1,800	1,700	1,900	3,500	3,500
Subsea Robotics Member
Segment Reporting Information [Line Items]
Depreciation, Depletion and Amortization	13,356	14,940	17,531	28,296
Revenue	186,512	169,161	157,123	355,673	285,112
Income (Loss) from Operations	42,227	33,654	25,938	75,881	37,490
Depreciation and amortization					36,532
Manufactured Products Member
Segment Reporting Information [Line Items]
Depreciation, Depletion and Amortization	3,013	3,044	3,020	6,057
Revenue	124,882	112,939	105,456	237,821	188,148
Income (Loss) from Operations	10,607	11,280	(1,365)	21,887	1,278
Depreciation and amortization					6,092
Offshore Projects Group
Segment Reporting Information [Line Items]
Depreciation, Depletion and Amortization	6,976	7,128	7,107	14,104
Revenue	130,547	104,307	116,457	234,854	213,854
Income (Loss) from Operations	17,132	5,514	17,535	22,646	18,201
Depreciation and amortization					14,404
Integrity Managements & Digital Solutions Member
Segment Reporting Information [Line Items]
Depreciation, Depletion and Amortization	939	858	1,034	1,797
Revenue	63,166	60,083	59,438	123,249	116,008
Income (Loss) from Operations	3,844	3,082	3,436	6,926	6,944
Depreciation and amortization					2,064
Aerospace and Defense Technologies Member
Segment Reporting Information [Line Items]
Depreciation, Depletion and Amortization	632	653	821	1,285
Revenue	92,803	90,497	85,557	183,300	167,068
Income (Loss) from Operations	11,357	8,496	8,961	19,853	20,805
Depreciation and amortization					1,477
Energy Services and Products Member
Segment Reporting Information [Line Items]
Depreciation, Depletion and Amortization	24,284	25,970	28,692	50,254
Revenue	505,107	446,490	438,474	951,597	803,122
Income (Loss) from Operations	73,810	53,530	45,544	127,340	63,913
Depreciation and amortization					59,092
Unallocated Expenses [Member]
Segment Reporting Information [Line Items]
Depreciation, Depletion and Amortization	1,130	1,198	1,347	2,328
Income (Loss) from Operations	$ (35,968)	$ (35,276)	$ (31,655)	$ (71,244)	(62,907)
Depreciation and amortization					$ 2,310