Business Segment Information - Financial Data By Business Segment (Details) - USD ($) $ in Thousands	3 Months Ended			9 Months Ended
	Sep. 30, 2023	Jun. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022
Segment Reporting Information [Line Items]
Goodwill	$ 34,020			$ 34,020		$ 34,339
Depreciation	24,000	$ 24,000	$ 28,000	74,000	$ 87,000
Revenue	635,180	597,910	559,671	1,770,077	1,529,861
Income (Loss) from Operations	57,929	49,199	46,875	133,878	68,686
Depreciation and amortization				79,463	93,128
Amortization of Intangible Assets	1,600	1,800	2,300	5,100	5,800
Cost, Depreciation and Amortization	25,596	26,046	30,249	79,463	93,128
Subsea Robotics Member
Segment Reporting Information [Line Items]
Revenue	197,343	186,512	169,422	553,016	454,534
Income (Loss) from Operations	47,818	42,227	37,069	123,699	74,559
Cost, Depreciation and Amortization	12,805	13,356	16,013	41,101	52,545
Manufactured Products Member
Segment Reporting Information [Line Items]
Revenue	122,877	124,882	94,039	360,698	282,187
Income (Loss) from Operations	8,229	10,607	4,282	30,116	5,560
Cost, Depreciation and Amortization	3,067	3,013	2,939	9,124	9,031
Offshore Projects Group
Segment Reporting Information [Line Items]
Revenue	150,273	130,547	152,987	385,127	366,841
Income (Loss) from Operations	26,745	17,132	20,310	49,391	38,511
Cost, Depreciation and Amortization	6,931	6,976	7,132	21,035	21,536
Integrity Managements & Digital Solutions Member
Segment Reporting Information [Line Items]
Revenue	66,056	63,166	58,465	189,305	174,473
Income (Loss) from Operations	3,242	3,844	3,091	10,168	10,035
Cost, Depreciation and Amortization	909	939	1,695	2,706	3,759
Aerospace and Defense Technologies Member
Segment Reporting Information [Line Items]
Revenue	98,631	92,803	84,758	281,931	251,826
Income (Loss) from Operations	14,140	11,357	13,043	33,993	33,848
Cost, Depreciation and Amortization	600	632	671	1,885	2,148
Unallocated Expenses [Member]
Segment Reporting Information [Line Items]
Income (Loss) from Operations	(42,245)	(35,968)	(30,920)	(113,489)	(93,827)
Cost, Depreciation and Amortization	1,284	1,130	1,799	3,612	4,109
Energy Services and Products Member
Segment Reporting Information [Line Items]
Revenue	536,549	505,107	474,913	1,488,146	1,278,035
Income (Loss) from Operations	86,034	73,810	64,752	213,374	128,665
Cost, Depreciation and Amortization	$ 23,712	$ 24,284	$ 27,779	$ 73,966	$ 86,871