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Stockholders’ Equity (Tables)
 9 Months Ended
Sep. 30, 2021
Equity [Abstract]  
Summary of Common Stock Outstanding The following summarizes the Company’s common stock outstanding as of September 30, 2021 and December 31, 2020:
September 30,December 31,
20212020
Converted pre-combination Velodyne common stock outstanding85,561,252101,849,247
Converted pre-combination Velodyne preferred stock outstanding24,772,75924,772,759
Graf Founder shares157,9002,575,000
Other stockholders85,430,728 46,715,188 
Total common stock issued and outstanding 195,922,639175,912,194
Summary of Common Stock Issuances Related to the Warrant Exercises The following summarizes the Company’s common stock issuance related to the warrant exercises:
September 30,December 31,
20212020
Warrants outstanding upon Closing24,876,512 24,876,512
Warrants exercised to date18,902,6429,598,538
Warrants outstanding5,973,87015,277,974
Aggregated common shares issuable upon exercise of warrants18,657,38418,657,384
Common shares issued upon exercise of warrants14,176,9597,198,898
Remaining common shares issuable upon exercise of warrants4,480,42511,458,486