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Pay vs Performance Disclosure
$ / shares in Thousands
 12 Months Ended
Dec. 31, 2023
USD ($)
$ / shares
Dec. 31, 2022
USD ($)
$ / shares
Dec. 31, 2021
USD ($)
$ / shares
Dec. 31, 2020
USD ($)
$ / shares
Pay vs Performance Disclosure        
Pay vs Performance Disclosure, Table
Year(1)
Summary
Compensation
 Table
Total for
PEO
($)
Compensation
Actually
Paid to
PEO(2)(3)
($)
Average
Summary
Compensation
Table Total
for
 Non-PEO
NEOs
($)
Average
Summary
Compensation
Actually Paid
to
Non-PEO
NEOs(2)(4)
($)
Value of Initial Fixed $100 Investment Based On:(5)
Net Loss
($)
(in millions)
Revenue(6)
($)
(in thousands)
Total
Shareholder
 Return
($)
Peer Group
Total
Shareholder
Return
($)
(a)
(b)
(c)
(d)
(e)
(f)
(g)
(h)
(i)
2023
$734,499 $(15,624,824)$2,487,120 $970,446 $14.66 $109.65 $(571.3)$69,779 
2022
94,392,486 29,435,418 6,784,751 (10,947,549)21.54 95.27 (445.9)40,698 
2021
1 1 18,190,495 2,505,975 75.15 121.64 (238.0)31,944 
2020
330,841 330,841 1,723,691 43,387,280 147.95 106.82 (369.1)13,951 
      
Company Selected Measure Name revenue      
Named Executive Officers, Footnote The following table lists the PEO and non-PEO NEOs for each of fiscal years 2023, 2022, 2021 and 2020.
Year
PEO
Non-PEO NEOs
2023Austin Russell
Thomas J. Fennimore and Alan Prescott
2022Austin RussellThomas J. Fennimore and Alan Prescott
2021Austin Russell
Thomas J. Fennimore, Alan Prescott, M. Scott Faris, and Jason Eichenholz
2020Austin Russell
Thomas J. Fennimore and M. Scott Faris
      
Peer Group Issuers, Footnote In accordance with the Pay Versus Performance Rules, the Company and the Company’s peer group total shareholder return (the “Peer Group TSR”) is determined based on the value of an initial fixed investment of $100 on December 3, 2020, through the end of the listed fiscal year. The Peer Group TSR set forth in this table was determined using the Russell 2000 Index, which we also use in preparing the stock performance graph required by Item 201(e) of Regulation S-K for our Annual Report for the fiscal year ended December 31, 2023.      
PEO Total Compensation Amount $ 734,499 $ 94,392,486 $ 1 $ 330,841
PEO Actually Paid Compensation Amount $ (15,624,824) 29,435,418 1 330,841
Adjustment To PEO Compensation, Footnote The dollar amounts reported represent the amount of “compensation actually paid,” as calculated in accordance with the Pay Versus Performance Rules. These dollar amounts do not reflect the actual amounts of compensation earned by or paid to our NEOs during the applicable year. For purposes of calculating “compensation actually paid,” the fair value of equity awards is calculated in accordance with ASC Topic 718 using the same assumption methodologies used to calculate the grant date fair value of awards for purposes of the Summary Compensation Table (refer to “Executive Compensation Tables—2023 Summary Compensation Table” for additional information).The following table shows the amounts deducted from and added to the Summary Compensation Table total to calculate “compensation actually paid” to Mr. Russell in accordance with the Pay Versus Performance Rules:
Equity Award Adjustments
Year
Summary
Compensation
Table Total
for
PEO
($)
Reported
Value
of
Equity
Awards
($)
Year End
Fair Value
of Equity
Awards
Granted
in the
Year and
Unvested
 at
Year End
($)
Year Over Year Change in Fair Value
of Outstanding and Unvested Equity
Awards
Granted
in Prior Years
($)
Fair Value as of Vesting Date of Equity Awards Granted and Vested in the Year
($)
Change
in Fair
Value
of
Equity
Awards
Granted
in Prior
Years
that
 Vested
in the
Year
($)
Fair Value at the End of the Prior Year of Equity Awards that Failed to Meet Vesting Conditions in the Year ($)
Value of Dividends or other Earnings Paid on Stock or Option Awards not Otherwise Reflected in Fair Value
($)
Compensation
Actually Paid
to PEO
($)
2023$734,499 $— $— $(16,359,323)$— $— $— $— $(15,624,824)
202294,392,486 (93,915,468)28,958,400 — — — — — 29,435,418 
20211 — — — — — — — 1 
2020330,841 — — — — — — — 330,841 
      
Non-PEO NEO Average Total Compensation Amount $ 2,487,120 6,784,751 18,190,495 1,723,691
Non-PEO NEO Average Compensation Actually Paid Amount $ 970,446 (10,947,549) 2,505,975 43,387,280
Adjustment to Non-PEO NEO Compensation Footnote The dollar amounts reported represent the amount of “compensation actually paid,” as calculated in accordance with the Pay Versus Performance Rules. These dollar amounts do not reflect the actual amounts of compensation earned by or paid to our NEOs during the applicable year. For purposes of calculating “compensation actually paid,” the fair value of equity awards is calculated in accordance with ASC Topic 718 using the same assumption methodologies used to calculate the grant date fair value of awards for purposes of the Summary Compensation Table (refer to “Executive Compensation Tables—2023 Summary Compensation Table” for additional information).The following table shows the amounts deducted from and added to the average Summary Compensation Table total compensation to calculate the average “compensation actually paid” to our non-PEO NEOs in accordance with the Pay Versus Performance Rules.
Equity Award Adjustments
Year
Average Summary Compensation Table Total for Non-PEO NEOs
($)
Average Reported Value of Equity Awards
($)
Average Year End Fair Value of Equity Awards Granted in the Year and Unvested at Year End
($)
Average Year over Year Change in Fair Value of Outstanding and Unvested Equity Awards Granted in Prior Years ($)
Average Fair Value as of Vesting Date of Equity Awards Granted and Vested in the Year ($)
Average Change in Fair Value of Equity Awards Granted in Prior Years that Vested in the Year ($)
Average Fair Value at the End of the Prior Year of Equity Awards that Failed to Meet Vesting Conditions in the Year ($)
Average Value of Dividends or other Earnings Paid on Stock or Option Awards not Otherwise Reflected in Fair Value ($)
Average Compensation Actually Paid to
Non-PEO NEOs
($)
2023$2,487,120 $(1,464,566)$— $(1,780,270)$1,464,566 $263,596 $— $— $970,446 
20226,784,751 (6,384,751)2,380,167 (11,542,105)1,130,500 (3,316,111)— — (10,947,549)
202118,190,495 (17,815,692)15,641,925 (10,558,034)17,434,923 (6,042,370)(14,345,272)— 2,505,975 
2020
1,723,691 (1,377,348)43,040,937 — — — — — 43,387,280 
      
Compensation Actually Paid vs. Total Shareholder Return
Compensation Actually Paid and Cumulative TSR

Comp paid vs. Company TSR.jpg
      
Compensation Actually Paid vs. Net Income ompensation Actually Paid and Net Loss
Comp paid vs. Net Loss.jpg
      
Compensation Actually Paid vs. Company Selected Measure
Compensation Actually Paid and Revenue

Comp paid vs. Revenue.jpg
      
Total Shareholder Return Vs Peer Group
Cumulative TSR of the Company and Cumulative TSR of the Peer Group

The following table compares the Company’s cumulative TSR with the cumulative TSR of the companies comprising the Russell 2000 Index peer group over the period presented in the table.
      
Tabular List, Table
Most Important Performance Measures
Revenue
Free Cash Flow
      
Total Shareholder Return Amount $ 14.66 21.54 75.15 147.95
Peer Group Total Shareholder Return Amount 109.65 95.27 121.64 106.82
Net Income (Loss) $ (571,300,000) $ (445,900,000) $ (238,000,000.0) $ (369,100,000)
Company Selected Measure Amount | $ / shares 69,779 40,698 31,944 13,951
PEO Name Austin Russell Austin Russell Austin Russell Austin Russell
Additional 402(v) Disclosure
This section provides disclosure about the relationship between executive compensation actually paid to our principal executive officer (PEO) and non-PEO named executive officers (NEOs) and certain financial performance measures of the Company for the fiscal years listed below. This disclosure has been prepared in accordance with Item 402(v) of Regulation S-K under the Securities Exchange Act of 1934 (the “Pay Versus Performance Rules”) and does not necessarily reflect how the compensation committee evaluates compensation decisions.
We have determined that revenue, as calculated in accordance with GAAP, is the financial performance measure that, in the Company’s assessment, represents the most important financial performance measure used to link “compensation actually paid” to our NEOs, for fiscal year 2023, to Company performance (the “Company Selected Measure” as defined in the Pay Versus Performance Rules). The Company’s revenue is comprised of sales of LiDAR sensors hardware, components, NRE services and licensing of certain information available with the Company.
In accordance with the Pay Versus Performance Rules, the following table lists the measures that, in the Company’s assessment, represent the most important financial performance measures used
to link “compensation actually paid” to the Company’s NEOs, for fiscal year 2023, to Company performance, as further described in our Compensation Discussion and Analysis within the section titled “Elements of Executive Compensation—Long-Term Equity Incentive Compensation—Annual Performance Award.”
In accordance with the Pay Versus Performance Rules, the charts below illustrate how “compensation actually paid” to the NEOs aligns with the Company’s financial performance as measured by TSR, net losses, and revenue, as well as a comparison of TSR and Peer Group TSR.
      
Measure:: 1        
Pay vs Performance Disclosure        
Name Revenue      
Measure:: 2        
Pay vs Performance Disclosure        
Name Free Cash Flow      
PEO | Aggregate Grant Date Fair Value of Equity Award Amounts Reported in Summary Compensation Table        
Pay vs Performance Disclosure        
Adjustment to Compensation, Amount $ 0 $ (93,915,468) $ 0 $ 0
PEO | Year-end Fair Value of Equity Awards Granted in Covered Year that are Outstanding and Unvested        
Pay vs Performance Disclosure        
Adjustment to Compensation, Amount 0 28,958,400 0 0
PEO | Year-over-Year Change in Fair Value of Equity Awards Granted in Prior Years That are Outstanding and Unvested        
Pay vs Performance Disclosure        
Adjustment to Compensation, Amount (16,359,323) 0 0 0
PEO | Vesting Date Fair Value of Equity Awards Granted and Vested in Covered Year        
Pay vs Performance Disclosure        
Adjustment to Compensation, Amount 0 0 0 0
PEO | Change in Fair Value as of Vesting Date of Prior Year Equity Awards Vested in Covered Year        
Pay vs Performance Disclosure        
Adjustment to Compensation, Amount 0 0 0 0
PEO | Prior Year End Fair Value of Equity Awards Granted in Any Prior Year that Fail to Meet Applicable Vesting Conditions During Covered Year        
Pay vs Performance Disclosure        
Adjustment to Compensation, Amount 0 0 0 0
PEO | Dividends or Other Earnings Paid on Equity Awards not Otherwise Reflected in Total Compensation for Covered Year        
Pay vs Performance Disclosure        
Adjustment to Compensation, Amount 0 0 0 0
Non-PEO NEO | Aggregate Grant Date Fair Value of Equity Award Amounts Reported in Summary Compensation Table        
Pay vs Performance Disclosure        
Adjustment to Compensation, Amount (1,464,566) (6,384,751) (17,815,692) (1,377,348)
Non-PEO NEO | Year-end Fair Value of Equity Awards Granted in Covered Year that are Outstanding and Unvested        
Pay vs Performance Disclosure        
Adjustment to Compensation, Amount 0 2,380,167 15,641,925 43,040,937
Non-PEO NEO | Year-over-Year Change in Fair Value of Equity Awards Granted in Prior Years That are Outstanding and Unvested        
Pay vs Performance Disclosure        
Adjustment to Compensation, Amount (1,780,270) (11,542,105) (10,558,034) 0
Non-PEO NEO | Vesting Date Fair Value of Equity Awards Granted and Vested in Covered Year        
Pay vs Performance Disclosure        
Adjustment to Compensation, Amount 1,464,566 1,130,500 17,434,923 0
Non-PEO NEO | Change in Fair Value as of Vesting Date of Prior Year Equity Awards Vested in Covered Year        
Pay vs Performance Disclosure        
Adjustment to Compensation, Amount 263,596 (3,316,111) (6,042,370) 0
Non-PEO NEO | Prior Year End Fair Value of Equity Awards Granted in Any Prior Year that Fail to Meet Applicable Vesting Conditions During Covered Year        
Pay vs Performance Disclosure        
Adjustment to Compensation, Amount 0 0 (14,345,272) 0
Non-PEO NEO | Dividends or Other Earnings Paid on Equity Awards not Otherwise Reflected in Total Compensation for Covered Year        
Pay vs Performance Disclosure        
Adjustment to Compensation, Amount $ 0 $ 0 $ 0 $ 0