Net Loss Per Share - Schedule of Earnings Per Share, Basic and Diluted (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Earnings Per Share [Abstract]
Net loss	$ (91,505)	$ (71,742)	$ (60,334)
Net loss attributable to ordinary shareholders - basic	(91,505)	(71,742)	(60,334)
Net loss attributable to ordinary shareholders - diluted	$ (91,505)	$ (71,742)	$ (60,334)
Weighted average ordinary shares outstanding - basic (in shares)	42,436,292	39,997,587	16,991,664
Weighted average ordinary shares outstanding - diluted (in shares)	42,436,292	39,997,587	16,991,664
Net loss per share - basic (in dollars per share)	$ (2.16)	$ (1.79)	$ (3.55)
Net loss per share - diluted (in dollars per share)	$ (2.16)	$ (1.79)	$ (3.55)