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Stock-Based Compensation - Additional Information (Details)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended 9 Months Ended 12 Months Ended
Apr. 19, 2021
USD ($)
Mar. 31, 2021
USD ($)
sEMI-TRUCK
$ / shares
shares
Apr. 30, 2017
Sep. 30, 2021
USD ($)
Sep. 30, 2020
USD ($)
Sep. 30, 2021
USD ($)
$ / shares
shares
Sep. 30, 2020
USD ($)
Dec. 31, 2020
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Stock-based compensation expense       $ 32,082 $ 7,645 $ 90,880 $ 9,325  
Shares purchased under ESPP (in shares) | shares           0   0
Stock-based compensation           $ 90,880 $ 9,325  
Cash proceeds received for unvested shares of common stock           200    
Initial Public Offering                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Stock-based compensation expense $ 42,600         $ 42,600    
Stock Options                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Unrecognized share-based compensation expense, weighted-average service period           3 years 4 months 28 days    
Unrecognized share-based compensation expense       97,900   $ 97,900    
Stock-based compensation $ 18,800              
Stock options exercise price (in dollars per share) | $ / shares           $ 22.22    
Stock options contractual life           7 years 7 months 28 days   7 years 11 months 26 days
CEO Performance Award | CEO                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Unrecognized share-based compensation expense, weighted-average service period           3 years 2 months 1 day    
Unrecognized share-based compensation expense       27,200   $ 27,200    
Stock-based compensation       2,200   5,000    
Stock options granted (in shares) | shares   1,150,000            
Stock options exercise price (in dollars per share) | $ / shares   $ 14.14            
Stock options contractual life   10 years            
Average period for market capitalization of the company   180 days            
Minimum average market capitalization   $ 25,000,000            
Period for average number of semi-trucks operating   90 days            
Minimum number of semi-trucks operating on its Autonomous Freight Network | sEMI-TRUCK   1,500            
Minimum annual revenue period   12 months            
Annual revenue   $ 200,000            
RSUs and SVAs                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Unrecognized share-based compensation expense       225,400   $ 225,400    
Unrecognized share-based compensation expense, weighted-average service period           3 years 2 months 4 days    
Stock-based compensation           $ 23,800    
Employee Stock                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Stock-based compensation expense       200   200    
Unrecognized share-based compensation expense       $ 800   $ 800    
Unrecognized share-based compensation expense, weighted-average service period           4 months 24 days    
Class A Common Stock                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Common stock subject to repurchase (in shares) | shares           45,000    
Common stock subject to repurchase at weighted average price per share (in dollars per share) | $ / shares           $ 4.20    
Class A Common Stock | Employee Stock                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Common stock reserved for issuance (in shares) | shares   2,013,414            
Maximum percentage of number of shares for approval   1.00%            
2017 Plan                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Share based compensation, option expiry period     10 years          
Share based compensation, option vesting period     4 years          
Additional common stock reserved for issuance (in shares) | shares   2,300,000            
Common stock reserved and authorized (in shares) | shares   24,267,694            
2017 Plan | Class A Common Stock                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Common stock reserved for issuance (in shares) | shares   19,892,067            
2021 Plan | Class A Common Stock                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Common stock reserved for issuance (in shares) | shares   20,134,146            
Maximum percentage of fully diluted capitalization for increase in available stock issuance   5.00%            
Percentage of fully-diluted capitalization on last day of preceding fiscal year   2.50%