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Stock-Based Compensation - Narrative (Details)
$ / shares in Units, $ in Thousands
1 Months Ended 12 Months Ended
Apr. 19, 2021
USD ($)
Mar. 31, 2021
USD ($)
sEMI-TRUCK
$ / shares
shares
Apr. 30, 2017
Dec. 31, 2021
USD ($)
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
shares
Dec. 31, 2019
USD ($)
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Stock-based compensation expense       $ 122,596 $ 12,763 $ 0
Shares purchased under ESPP (in shares) | shares       0    
Share-based compensation       $ 122,596 $ 12,763 $ 0
Expected dividend yield       0.00%    
Initial Public Offering            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Stock-based compensation expense $ 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 2 months 15 days    
Granted (in shares) | shares       3,767,968   0
Weighted average grant date fair value (in dollars per share) | $ / shares       $ 27.98 $ 3.61  
Stock options exercise price (in dollars per share) | $ / shares       $ 22.36    
Exercises (in shares) | shares       8,580,984   0
Intrinsic value of options exercised       $ 11,100 $ 3,700  
Unrecognized share-based compensation expense       $ 92,500    
Share-based compensation $ 18,800          
Expected dividend yield       0.00% 0.00% 0.00%
Stock options contractual life       9 years 14 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       2 years 11 months 1 day    
Stock options exercise price (in dollars per share) | $ / shares   $ 14.14        
Unrecognized share-based compensation expense       $ 25,100    
Share-based compensation       7,100    
Stock options granted (in shares) | shares   1,150,000        
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       $ 243,300    
Unrecognized share-based compensation expense, weighted-average service period       3 years 1 month 13 days    
Share-based compensation       $ 23,800    
Employee Stock            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Stock-based compensation expense       600    
Unrecognized share-based compensation expense       $ 300    
Unrecognized share-based compensation expense, weighted-average service period       1 month 28 days    
Expected dividend yield       0.00%    
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%        
Class A Common Stock | Restricted Stock            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Stock-based compensation expense         $ 6,900  
Granted (in shares) | shares         1,899,680  
Granted (in dollars per share) | $ / shares         $ 3.62  
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%