If, through an accident, you acquire the property of another, and don't give it back, that can be theft. This is called "theft by conversion."[1]
If you don't know you're breaking a law there can be no mens rea, can there?
Certain crimes do require knowledge of the law, like tax evasion: the tax code is assumed to be so complicated that to be guilty of criminal tax evasion it must be proven that you knew you were evading taxes. Wikipedia has a summary: https://en.wikipedia.org/wiki/Mens_rea#Ignorance_of_the_law_...
The standard varies by jurisdiction, but it's quite common for "intended to cause non-lethal injury but accidentally killed the victim" to be treated as murder; this arises for example in the "eggshell skull rule".
Some states also have what is referred to as "constructive murder" whereby you can be convicted of murder if you commit a serious crime and someone dies, regardless of whether the possibility of a death was reasonably forseeable; in Canada this has been ruled unconstitutional on the grounds of lacking mens rea but in the USA courts generally accept that having the intent to commit a serious (but non-lethal) crime meets the requirement.
“For example, 20-year-old Florida resident Ryan Holle was convicted of first-degree murder for lending his car to a friend, who used the car in a burglary during which a murder was committed.”
> A person’s appropriation of property belonging to another is not to be regarded as dishonest if he appropriates the property in the belief that he has in law the right to deprive the other of it
An honest mistake as to the law would not be considered theft.