Net Loss Per Share - Schedule of Earnings Per Share, Basic and Diluted (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended					6 Months Ended
	Jun. 30, 2022	Mar. 31, 2022	Jun. 30, 2021	Mar. 31, 2021	Jun. 30, 2020	Jun. 30, 2022	Jun. 30, 2021
Earnings Per Share [Abstract]
Net loss	$ (21,037)	$ (21,171)	$ (17,528)	$ (12,715)	$ (17,528)	$ (42,208)	$ (30,243)
Net loss attributable to ordinary shareholders - basic	(21,037)				(17,528)	(42,208)	(30,243)
Net loss attributable to ordinary shareholders - diluted	$ (21,037)				$ (17,528)	$ (42,208)	$ (30,243)
Weighted average ordinary shares outstanding - basic (in shares)	42,474,987		39,802,532		39,802,532	42,110,161	38,194,822
Weighted average ordinary shares outstanding - diluted (in shares)	42,474,987		39,802,532		39,802,532	42,110,161	38,194,822
Net loss per share - basic (in dollars per share)	$ (0.50)		$ (0.44)		$ (0.44)	$ (1.00)	$ (0.79)
Net loss per share - diluted (in dollars per share)	$ (0.50)		$ (0.44)		$ (0.44)	$ (1.00)	$ (0.79)