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Commitments and Contingencies (Details) $ in Thousands	3 Months Ended	12 Months Ended
	Jun. 30, 2024 USD ($)	Dec. 31, 2023 USD ($)	Apr. 01, 2024 patent	Mar. 28, 2024 patent	Mar. 19, 2024 patent	Mar. 13, 2024 USD ($)	Aug. 25, 2023 director entity	Mar. 19, 2021 entity director
Loss Contingencies [Line Items]
Outstanding letter of credit	$ 1,400	$ 1,400
Insurance receivable	23,375	23,375
Hesai Photonics
Loss Contingencies [Line Items]
Number of patents under review | patent			4	4	4
Number of patents | patent			5	5	5
Nick v. Velodyne Lidar, Inc., et al.
Loss Contingencies [Line Items]
Number of directors filed against | director								2
Number of other entities filed against in lawsuits | entity								3
Moradpour v. Velodyne Lidar, Inc., et al.
Loss Contingencies [Line Items]
Payment of litigation settlement, estimated amount						$ 27,500
Estimated funds from insurance proceeds						$ 23,400
Litigation settlement, estimated payable		27,500
Insurance receivable		23,400
Settlement expense		$ 4,100
Payments for Legal Settlements	$ 4,100
Berger v. Graf Acquisition, LLC, et al.
Loss Contingencies [Line Items]
Number of directors filed against | director							6
Number of other entities filed against in lawsuits | entity							2

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