Shareholders' Equity, Summary (Details)	12 Months Ended
	Dec. 31, 2023 USD ($) shares	Dec. 31, 2022 USD ($) shares	Dec. 31, 2021 USD ($)	Dec. 31, 2023 £ / shares	Dec. 31, 2023 USD ($) shares	Dec. 31, 2022 £ / shares	Dec. 31, 2022 USD ($) shares	Feb. 03, 2021 GBP (£)
Stockholders Equity [Abstract]
Common stock, shares issued (in shares)					49,725,649		48,088,346
Common stock, shares outstanding (in shares)					49,725,649		48,088,346
Ordinary shares, par value (in pounds per share) | £ / shares				£ 0.002		£ 0.002
Deferred shares (in shares)					5,793,501		5,793,501
Deferred shares, par value (in pounds per share) | £ / shares				£ 0.0001		£ 0.0001
Reserved authorized shares for future issuance (in shares)					4,172,055
Number of ordinary shares with no voting rights (in shares)	1,714,650	2,164,960
Number of deferred shares with no voting rights (in shares)	0	0
Dividends were paid or declared | $	$ 0	$ 0	$ 0
Aggregate nominal value of authorized shares | $					$ 134,000		$ 129,000
Expiry period of nominal shares	5 years
Maximum [Member]
Stockholders Equity [Abstract]
Aggregate nominal value of authorized shares | £								£ 150,000