Summary of Significant Accounting Policies - Narrative (Details) £ in Thousands, $ in Thousands, € in Millions	3 Months Ended		6 Months Ended
	Jun. 30, 2023 USD ($)	Jun. 30, 2022	Jun. 30, 2023 EUR (€) region	Jun. 30, 2023 GBP (£) region	Jun. 30, 2022	Dec. 31, 2022 USD ($)
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Number of geographic regions | region			2	2
Expected dividend yield (in percent)	0.00%	0.00%	0.00%	0.00%	0.00%
Operating lease right-of-use assets | $	$ 4,784					$ 2,006
Operating lease liabilities - current | $	$ 2,176					$ 1,510
Maximum qualifying research and development expenditures with connected parties (in percent)			15.00%	15.00%
Warrant term	10 years
Measurement Input, Expected Dividend Rate
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Warrants dividend yield (as a percent)	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]
Total aid claimable (in euros) | €			€ 7.5
Cap on payable claims (in GBP) | £				£ 20
United Kingdom Research and Development Tax Credit Regime
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Annual offset amount (in euros) | £				£ 5,000
Percentage of taxable profits (in percent)			50.00%	50.00%