Subsequent Events (Details) - Subsequent Event $ in Millions	Feb. 10, 2023 USD ($) employee
Facility Closing
Subsequent Event [Line Items]
Restructuring and related cost, expected cost	$ 0.5
Minimum
Subsequent Event [Line Items]
Restructuring and related cost, expected number of positions eliminated | employee	180
Restructuring and related cost, expected cost	$ 27.0
Minimum | One-time Termination Benefits
Subsequent Event [Line Items]
Restructuring and related cost, expected cost	12.0
Minimum | Noncash Stock Based Compensation Charge
Subsequent Event [Line Items]
Restructuring and related cost, expected cost	$ 14.5
Maximum
Subsequent Event [Line Items]
Restructuring and related cost, expected number of positions eliminated | employee	200
Restructuring and related cost, expected cost	$ 30.0
Maximum | One-time Termination Benefits
Subsequent Event [Line Items]
Restructuring and related cost, expected cost	13.0
Maximum | Noncash Stock Based Compensation Charge
Subsequent Event [Line Items]
Restructuring and related cost, expected cost	$ 16.5
Velodyne Lidar, Inc.
Subsequent Event [Line Items]
Business combination, exchange ratio	0.8204