Income Taxes - Schedule of Components of Income Tax Income (Loss) Before Provision (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
United Kingdom	$ (92,841)	$ (72,397)	$ (60,522)
Foreign	1,744	854	220
Loss before income taxes	$ (91,097)	$ (71,543)	$ (60,302)