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Summary of Significant Accounting Policies - Narrative (Details)
€ in Millions, £ in Millions, $ in Millions
1 Months Ended 3 Months Ended 9 Months Ended
Apr. 17, 2020
USD ($)
Aug. 28, 2019
USD ($)
May 31, 2021
USD ($)
Sep. 30, 2021
geographicRegion
Sep. 30, 2020
Sep. 30, 2021
GBP (£)
geographicRegion
Sep. 30, 2021
EUR (€)
geographicRegion
Sep. 30, 2020
Apr. 17, 2020
GBP (£)
Aug. 28, 2019
GBP (£)
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                    
Consideration received on transaction   $ 25.0 $ 154.8              
Number of geographic regions | geographicRegion       2   2 2      
Expected dividend yield       0.00% 0.00% 0.00% 0.00% 0.00%    
Likelihood of benefit being realized percent           50.00% 50.00%      
Convertible Debt                    
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                    
Convertible loan notes $ 18.4 $ 18.4             £ 15.0 £ 15.0
Convertible B preferred stock                    
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                    
Additional funding $ 80.0                  
United Kingdom Research and Development Tax Credit Regime, Small or Medium-Sized Enterprises (SME)                    
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                    
Cash rebate percent           33.35% 33.35%      
Total aid claimable | €             € 7.5      
United Kingdom Research and Development Tax Credit Regime                    
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                    
Cash rebate percent           21.67% 21.67%      
Annual offset amount | £           £ 5.0        
Percentage of taxable profits           50.00% 50.00%