Stockholders’ Equity - Summary of Common Stock Outstanding (Details) - shares	Mar. 31, 2022	Dec. 31, 2021
Class of Stock [Line Items]
Common stock, shares outstanding (in shares)	198,263,494	197,346,675
Converted pre-combination Velodyne common stock outstanding
Class of Stock [Line Items]
Common stock, shares outstanding (in shares)	23,788,619	82,024,874
Converted pre-combination Velodyne preferred stock outstanding
Class of Stock [Line Items]
Common stock, shares outstanding (in shares)	24,772,759	24,772,759
Graf Founder shares
Class of Stock [Line Items]
Common stock, shares outstanding (in shares)	142,800	157,800
Other stockholders
Class of Stock [Line Items]
Common stock, shares outstanding (in shares)	149,559,316	90,391,242