Revenue - Changes in Contract Liability (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Contract Liabilities
Contract liability, beginning balance	$ 17,852	$ 744
Contract liabilities acquired in the Velodyne Merger	0	8,385
Net revenue deferred in the period	1,347	(141)
Revenue recognized that was included in the contract liability balance at the beginning of the period	(1,287)	(362)
Contract liability, ending balance	$ 17,912	$ 8,626