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Revenue - Direct Financing Leases (Details) - USD ($)
$ in Thousands
12 Months Ended
Oct. 21, 2022
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Lessor, Lease, Description [Line Items]        
Gain on commencement of sales-type lease (note 2)   $ 0 $ 0 $ 44,943
Net Investment in Lease, Nonaccrual, No Allowance   0 14,209  
Net Investment in Lease, Allowance for Credit Loss   0 (2,200)  
Net Investment in Lease   0 12,009  
Net Investment in Lease, Current   0 (12,009)  
Net Investment in Lease, after Allowance for Credit Loss, Noncurrent   0 0  
Sales Type Lease, Lease Receivable, Payments to be Received   0 11,824  
Sales-type Lease, Unguaranteed Residual Asset   0 2,385  
Petrojarl Foinaven FPSO        
Lessor, Lease, Description [Line Items]        
Asset retirement obligation     $ 7,700  
Direct financing lease payments received $ 11,600 11,600    
Sales-type Lease, Net Investment in Lease   $ 0