Operations by Business Segment and Geographic Area - Financial Data By Business Segment (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Segment Reporting Information [Line Items]
Other Adjustments to Income, Discontinued Operations			$ 1,308
Revenue	$ 2,424,706	$ 2,066,084	1,869,275
Income from Operations	181,328	110,863	39,799
Depreciation, Depletion and Amortization, Nonproduction	104,960	120,969	139,723
Depreciation	99,000	113,000	136,000
Operating Segments
Segment Reporting Information [Line Items]
Revenue	2,047,861	1,723,483	1,502,280
Income from Operations	287,763	194,097	110,767
Depreciation, Depletion and Amortization, Nonproduction	98,149	112,789	133,281
Subsea Robotics
Segment Reporting Information [Line Items]
Revenue	752,521	621,921	538,515
Income from Operations	174,293	118,248	76,874
Depreciation, Depletion and Amortization	54,365	67,684	87,900
Manufactured Products
Segment Reporting Information [Line Items]
Revenue	493,692	382,361	344,251
Income from Operations	35,551	11,692	(15,876)
Depreciation, Depletion and Amortization	12,220	11,946	12,788
Offshore Projects Group
Segment Reporting Information [Line Items]
Revenue	546,366	489,317	378,121
Income from Operations	64,546	49,256	31,197
Depreciation, Depletion and Amortization	27,956	28,560	28,173
Integrity Management & Digital Solutions
Segment Reporting Information [Line Items]
Revenue	255,282	229,884	241,393
Income from Operations	13,373	14,901	18,572
Depreciation, Depletion and Amortization	3,608	4,599	4,420
Aerospace and Defense Technologies
Segment Reporting Information [Line Items]
Revenue	376,845	342,601	366,995
Income from Operations	45,003	44,168	60,992
Depreciation, Depletion and Amortization	2,504	2,853	4,783
Unallocated Expenses Member
Segment Reporting Information [Line Items]
Income from Operations	(151,438)	(127,402)	(131,960)
Depreciation, Depletion and Amortization	$ 4,307	$ 5,327	$ 1,659