CONDENSED CONSOLIDATED STATEMENTS OF STOCKHOLDERS’ EQUITY - USD ($) $ in Thousands	Total	Common Stock	Additional Paid-in- Capital	Accumulated Deficit	Accumulated other comprehensive income (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 exercise of stock options (in shares)		10,007
Issuance of common stock upon exercise of stock options	18		18
Issuance of common stock upon Velodyne Merger (in shares)		19,483,269
Issuance of common stock upon Velodyne Merger	306,602	$ 20	306,582
Issuance of common stock upon vesting of restricted stock (in shares)		568,675
Repurchase of common stock (in 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, 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]
Net loss	(335,115)
Ending balance (in shares) at Sep. 30, 2023		40,626,201
Ending balance at Sep. 30, 2023	194,047	$ 39	971,419	(777,031)	(380)
Beginning balance (in shares) at Mar. 31, 2023		38,716,997
Beginning balance at Mar. 31, 2023	322,736	$ 39	942,072	(619,196)	(179)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Common Stock adjustment reflected as a result of the one-for-10 reverse stock split effectuated on April 6, 2023 (in shares)		85,893
Issuance of common stock upon exercise of stock options (in shares)		69,080
Issuance of common stock upon exercise of stock options	131		131
Issuance of common stock upon vesting of restricted stock (in shares)		385,865
Issuance of common stock to employees under employee stock purchase plan (in shares)		62,880
Issuance of common stock to employees under employee stock purchase plan	310		310
Common stock warrants issuable to customer	61		61
Stock-based compensation expense	16,466		16,466
Vesting of early exercised stock options	71		71
Net loss	(122,733)			(122,733)
Other Comprehensive loss	(51)				(51)
Ending balance (in shares) at Jun. 30, 2023		39,320,715
Ending balance at Jun. 30, 2023	216,991	$ 39	959,111	(741,929)	(230)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of stock options (in shares)		47,710
Issuance of common stock upon exercise of stock options	93		93
Proceeds from at-the-market offering, net of commissions and fees	$ 3,616		3,616
Proceeds from at-the-market offering, net of commissions and fees (in shares)	802,832
Issuance of common stock upon vesting of restricted stock (in shares)		454,944
Common stock warrants issuable to customer	$ 227		227
Vesting of early exercised stock options	8,372		8,372
Net loss	(35,102)			(35,102)
Other Comprehensive loss	(150)				(150)
Ending balance (in shares) at Sep. 30, 2023		40,626,201
Ending balance at Sep. 30, 2023	$ 194,047	$ 39	971,419	(777,031)	(380)
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 exercise of stock options (in shares)		54,374
Issuance of common stock upon exercise of stock options	108		108
Issuance of restricted stock awards (in shares)		533,601
Issuance of restricted stock awards	1	$ 1
Proceeds from at-the-market offering, net of commissions and fees	2,331		2,331
Proceeds from at-the-market offering, net of commissions and fees (in shares)		343,571
Issuance of common stock upon Velodyne Merger (in shares)		29,376
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
Ending balance at Mar. 31, 2024	$ 167,232	$ 44	1,007,502	(839,875)	(439)
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 exercise of stock options (in shares)	86,547
Net loss	$ (73,308)
Ending balance (in shares) at Sep. 30, 2024	49,542,659	49,542,659
Ending balance at Sep. 30, 2024	$ 171,749	$ 47	1,061,180	(889,334)	(144)
Beginning balance (in shares) at Mar. 31, 2024		44,978,704
Beginning balance at Mar. 31, 2024	167,232	$ 44	1,007,502	(839,875)	(439)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of stock options (in shares)		22,486
Issuance of common stock upon exercise of stock options	42		42
Proceeds from at-the-market offering, net of commissions and fees	15,774		15,774
Proceeds from at-the-market offering, net of commissions and fees (in shares)		1,489,300
Issuance of common stock upon Velodyne Merger (in shares)		181,840
Issuance of common stock upon vesting of restricted stock (in shares)		310,896
Issuance of common stock to employees under employee stock purchase plan (in shares)		184,079
Issuance of common stock to employees under employee stock purchase plan	781		781
Common stock warrants issuable to customer	293		293
Stock-based compensation expense	10,695		10,695
Net loss	(23,869)			(23,869)
Other Comprehensive loss	(338)				(338)
Ending balance (in shares) at Jun. 30, 2024		47,167,305
Ending balance at Jun. 30, 2024	170,610	$ 44	1,035,087	(863,744)	(777)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock upon exercise of stock options (in shares)		9,687
Issuance of common stock upon exercise of stock options	18		18
Issuance of restricted stock awards	1	$ 1
Proceeds from at-the-market offering, net of commissions and fees	14,185	$ 2	14,183
Proceeds from at-the-market offering, net of commissions and fees (in shares)		1,649,310
Issuance of common stock upon vesting of restricted stock (in shares)		716,357
Common stock warrants issuable to customer	373		373
Stock-based compensation expense	11,519		11,519
Net loss	(25,590)			(25,590)
Other Comprehensive loss	$ 633				633
Ending balance (in shares) at Sep. 30, 2024	49,542,659	49,542,659
Ending balance at Sep. 30, 2024	$ 171,749	$ 47	$ 1,061,180	$ (889,334)	$ (144)