Welcome to the forum, Magnus. I’m sorry to say that there really isn’t a good way to do this at the moment in Dorico. You can give a non-kit percussion instrument, one that shows just a single line, to the same player as a pitched staff, then you can cross notes from the pitched staff up to the unpitched staff, but unfortunately you can’t then change the playing technique used by the pitched note when it is shown on the unpitched staff, so it will always draw on the line, rather than allowing you to move it above or below the line.
Dorico doesn’t provide any single-line pitched instruments, though it is possible to fool Dorico into making one if you either import one from MusicXML or you hand-hack the file that defines instruments that is included with the program, though I can’t really bring myself to recommend that route. However, in theory, if you had two pitched instruments held by the same player, one using a five-line staff and one using a single line, you would be able to reproduce that example, though of course it would play back pitched rather than as the desired percussion sounds.