Revenue - Changes in Contract Liability (Details) - USD ($) $ in Thousands	9 Months Ended
	Sep. 30, 2024	Sep. 30, 2023
Change In Contract With Customer, Liability [Roll Forward]
Beginning balance	$ 17,852	$ 744
Contract liabilities acquired in the Velodyne Merger	0	8,384
Net revenue deferred in the period	9,405	6,065
Revenue recognized that was included in the contract liability balance at the beginning of the period	(1,780)	(503)
Ending balance	$ 25,477	$ 14,690