We address a generalization of change point detection with the purpose of detecting the change locations and the levels of clusters of a piecewise constant signal. Our approach is to model it as a nonparametric penalized least square model selection on a family of models indexed over the collection of partitions of the design points and propose a computationally efficient algorithm to approximately solve it. Statistically, minimizing such a penalized criterion yields an approximation to the maximum a-posteriori probability (MAP) estimator. The criterion is then analyzed and an oracle inequality is derived using a Gaussian concentration inequality. The oracle inequality is used to derive on one hand conditions for consistency and on the other hand an adaptive upper bound on the expected square risk of the estimator, which statistically motivates our approximation. Finally, we apply our algorithm to simulated data to experimentally validate the statistical guarantees and illustrate its behavior.