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, 2022		18,658,799
Beginning balance at Dec. 31, 2022	$ 171,619	$ 19	$ 613,665	$ (441,916)	$ (149)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon and in connection with Velodyne Merger (in shares)		19,483,269
Issuance of common stock upon and in connection with Velodyne Merger	306,602	$ 20	306,582
Issuance of common stock upon exercise of stock options (in shares)		10,007
Issuance of common stock upon exercise of stock options	18		18
Issuance of common stock upon vesting of restricted stock (in shares)		568,675
Repurchase of common stock (shares)		(3,753)
Stock-based compensation expense	21,780		21,780
Vesting of early exercised stock options	27		27
Net loss	(177,280)			(177,280)
Other Comprehensive loss	(30)				(30)
Ending balance (in shares) at Mar. 31, 2023		38,716,997
Ending balance at Mar. 31, 2023	$ 322,736	$ 39	942,072	(619,196)	(179)
Beginning balance (in shares) at Dec. 31, 2023	43,257,863	43,257,863
Beginning balance at Dec. 31, 2023	$ 179,672	$ 42	995,464	(816,026)	192
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon and in connection with Velodyne Merger (in shares)		29,376
Issuance of common stock upon exercise of stock options (in shares)	54,374	54,374
Issuance of common stock upon exercise of stock options	$ 108		108
Issuance of restricted stock awards	1	$ 1
Issuance of restricted stock awards (in shares)		533,601
Proceeds from at-the-market offering, net of commissions and fees of $$72 (in shares)		343,571
Proceeds from at-the-market offering, net of commissions and fees of $$72	2,331		2,331
Issuance of common stock upon vesting of restricted stock (in shares)		759,919
Issuance of common stock upon vesting of restricted stock	1	$ 1
Common stock warrants issuable to customer	195		195
Stock-based compensation expense	9,404		9,404
Net loss	(23,849)			(23,849)
Other Comprehensive loss	$ (631)				(631)
Ending balance (in shares) at Mar. 31, 2024	44,978,704	44,978,704
Ending balance at Mar. 31, 2024	$ 167,232	$ 44	$ 1,007,502	$ (839,875)	$ (439)