Net Loss Per Share - Summary of Diluted and Basic Net Loss Per Ordinary Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended						9 Months Ended
	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Sep. 30, 2023	Sep. 30, 2022
Earnings Per Share [Abstract]
Net loss attributable to ordinary shareholders	$ (24,039)	$ (21,621)	$ (24,045)	$ (21,897)	$ (42,391)	$ (27,726)	$ (69,705)	$ (92,014)
Weighted-average shares - basic (in shares)	107,167,691			108,353,831			107,164,699	107,854,547
Weighted-average shares - diluted (in shares)	107,167,691			108,353,831			107,164,699	107,854,547
Net loss per ordinary share – basic (in dollars per share)	$ (0.22)			$ (0.20)			$ (0.65)	$ (0.85)
Net loss per ordinary share – diluted (in dollars per share)	$ (0.22)			$ (0.20)			$ (0.65)	$ (0.85)