Consolidated Balance Sheets (Parenthetical) - £ / shares	Sep. 30, 2023	Dec. 31, 2022
Statement of Financial Position [Abstract]
Common stock, nominal value (in pound sterling per share)	£ 0.002	£ 0.002
Common stock, shares authorized (in shares)	152,500,000	152,500,000
Common stock, shares issued (in shares)	97,567,483	94,843,391
Common Stock, shares outstanding (in shares)	97,567,483	94,843,391