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Revenue - Changes in Contract Liability (Details) - USD ($)
$ in Thousands
 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Change In Contract With Customer, Liability [Roll Forward]    
Beginning balance $ 17,852 $ 744
Contract liabilities acquired in the Velodyne Merger 0 8,385
Net revenue deferred in the period 1,085 6,145
Revenue recognized that was included in the contract liability balance at the beginning of the period (1,638) (232)
Ending balance $ 17,299 $ 15,042