CONDENSED CONSOLIDATED STATEMENTS OF STOCKHOLDERS’ EQUITY - USD ($) $ in Thousands	Total	Common Stock	Additional Paid-in- Capital	Accumulated Deficit	Accumulated other comprehensive loss
Beginning balance (in shares) at Dec. 31, 2021		17,220,042
Beginning balance at Dec. 31, 2021	$ 260,700	$ 17	$ 564,045	$ (303,356)	$ (6)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Velodyne Merger (in shares)		82,270
Issuance of common stock upon exercise of stock options	209	$ 0	209
Repurchase of common stock (shares)		(23,311)
Repurchase of common stock	(31)		(31)
Vesting of early exercised stock options	19		19
Stock-based compensation expense	8,750		8,750
Net loss	(32,397)			(32,397)
Other Comprehensive loss	(12)				(12)
Issuance of common stock upon exercise of restricted stock awards - net of tax withholding (in shares)		81,249
Issuance of common stock upon vesting of restricted stock - net of tax withholding	(59)		(59)
Ending balance (in shares) at Mar. 31, 2022		17,360,250
Ending balance at Mar. 31, 2022	$ 237,179	$ 17	572,933	(335,753)	(18)
Beginning balance (in shares) at Dec. 31, 2022	18,658,799	18,658,799
Beginning balance at Dec. 31, 2022	$ 171,619	$ 19	613,665	(441,916)	(149)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Velodyne Merger (in shares)		19,483,269
Issuance of common stock upon Velodyne Merger	$ 306,602	$ 20	306,582
Issuance of common stock upon exercise of stock options (in shares)	10,007	10,007
Issuance of common stock upon exercise of stock options	$ 18		18
Issuance of common stock upon vesting of restricted stock awards (in shares)		568,675
Repurchase of common stock (shares)		(3,753)
Repurchase of common stock	0		0
Vesting of early exercised stock options	27		27
Stock-based compensation expense	21,780		21,780
Net loss	(177,280)			(177,280)
Other Comprehensive loss	$ (30)				(30)
Ending balance (in shares) at Mar. 31, 2023	38,716,997	38,716,997
Ending balance at Mar. 31, 2023	$ 322,736	$ 39	$ 942,072	$ (619,196)	$ (179)