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Prepaid Expenses and Other Current Assets - Summary of Prepaid Expenses and Other Current Assets (Details) - USD ($)
$ in Thousands
Dec. 31, 2021
Dec. 31, 2020
Prepaid Expense And Other Assets Current [Abstract]    
UK R&D tax credit $ 10,523 $ 6,214
Prepaid research and development 3,608 751
Prepaid insurance 1,525 21
VAT recoverable 650 1,125
Deferred offering costs   1,007
Other current assets 2,124 830
Total $ 18,430 $ 9,948