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, 2023	Mar. 31, 2023	Jun. 30, 2022	Mar. 31, 2022	Jun. 30, 2023	Jun. 30, 2022
Earnings Per Share [Abstract]
Net loss	$ (28,335)	$ (24,208)	$ (21,037)	$ (21,171)	$ (52,543)	$ (42,208)
Net loss attributable to ordinary shareholders - basic	(28,335)		(21,037)		(52,543)	(42,208)
Net loss attributable to ordinary shareholders - diluted	$ (28,335)		$ (21,037)		$ (52,543)	$ (42,208)
Weighted average ordinary shares outstanding - basic (in shares)	45,565,991		42,474,987		44,153,772	42,110,161
Weighted average ordinary shares outstanding - diluted (in shares)	45,565,991		42,474,987		44,153,772	42,110,161
Net loss per share - basic (in dollars per share)	$ (0.62)		$ (0.50)		$ (1.19)	$ (1.00)
Net loss per share - diluted (in dollars per share)	$ (0.62)		$ (0.50)		$ (1.19)	$ (1.00)