Commitments and Contingencies (Details) $ in Millions	12 Months Ended
	Dec. 31, 2023 USD ($)	Mar. 31, 2024 USD ($)	Mar. 19, 2024 patent	Mar. 13, 2024 USD ($)	Aug. 25, 2023 entity director	Mar. 19, 2021 director entity
Loss Contingencies [Line Items]
Outstanding letter of credit		$ 1.4
Hesai Photonics
Loss Contingencies [Line Items]
Number of patents under review | patent			5
Number of patents | patent			4
Nick v. Velodyne Lidar, Inc., et al.
Loss Contingencies [Line Items]
Number of directors filed against | director						2
Number of other entities filed against in lawsuits | entity						3
Moradpour v. Velodyne Lidar, Inc., et al.
Loss Contingencies [Line Items]
Payment of litigation settlement, estimated amount				$ 27.5
Estimated funds from insurance proceeds	$ 23.4
Litigation settlement, estimated payable	27.5
Settlement expense	$ 4.1
Berger v. Graf Acquisition, LLC, et al.
Loss Contingencies [Line Items]
Number of directors filed against | director					6
Number of other entities filed against in lawsuits | entity					2