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Income Taxes - Summary of Components of Loss from Operations Before Income Tax Expense (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Income Tax Disclosure [Abstract]    
United States $ (3,832) $ (1,363)
Netherlands (81,178) (53,594)
Loss before income tax expense $ (85,010) $ (54,957)