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Subsequent Events - Additional Information (Details) |  |  |  |  |  |  | 1 Months Ended | 9 Months Ended | 12 Months Ended |  |  |  |
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Aug. 24, 2020 USD ($) $ / shares shares | Aug. 20, 2020 USD ($) | Jun. 06, 2020 USD ($) | May 26, 2020 USD ($) | Apr. 08, 2020 USD ($) | Mar. 31, 2020 USD ($) | Sep. 30, 2020 USD ($) $ / shares shares | Jul. 31, 2019 USD ($) shares | Sep. 30, 2020 USD ($) $ / shares shares | Sep. 30, 2019 USD ($) shares | Dec. 31, 2019 USD ($) $ / shares shares | Dec. 31, 2018 USD ($) $ / shares shares | Aug. 22, 2020 | Apr. 22, 2020 USD ($) | Mar. 20, 2020 USD ($) $ / shares shares | Jun. 24, 2019 $ / shares
Common Stock, Value |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 0 |  |  |  |
Debt Instrument, Face Amount |  |  |  |  |  |  | $ 255,000,000 |  | $ 255,000,000 |  |  |  |  |  |  |
Proceeds from issuance of Series A Convertible Preferred stock |  |  |  |  |  |  |  |  |  |  | $ 68,666,000 | 0 |  |  |  |
Debt instrument, Conversion price | $ / shares |  |  |  |  |  |  | $ 43.3039 |  | $ 43.3039 |  | $ 43.3039 |  |  |  |  |
Proceeds from the issuance of debt |  |  |  |  |  |  |  |  | $ 31,910,000 |  | $ 0 | $ 5,940,000 |  |  |  |
Debt Instrument, Redemption, Period One [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument, Periodic Payment, Principal |  |  |  |  |  | $ 20,000,000 |  |  | 5,000,000 |  |  |  |  |  |  |
Repayments of Debt |  |  |  | $ 3,000,000 | $ 17,000,000 |  |  |  |  |  |  |  |  |  |  |
Equity investment option 1 [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Minuimum Equity investment |  |  |  |  |  |  |  |  | 25,000,000 |  | 25,000,000 |  |  |  |  |
Equity investment option 2 [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Minuimum Equity investment |  |  |  |  |  |  |  |  | 10,000,000 |  | 10,000,000 |  |  |  |  |
Equity investment option 3 [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Minuimum Equity investment |  |  |  |  |  |  |  |  | $ 30,000,000 |  | $ 30,000,000 |  |  |  |  |
New Notes [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Line of Credit Facility, Commitment Fee Percentage |  |  |  |  |  |  |  |  | 1.50% |  | 1.50% |  |  |  |  |
Debt Instrument,Term |  |  |  |  |  |  |  |  | 48 months |  | 48 months |  |  |  |  |
Debt Instrument, Interest Rate |  |  |  |  |  |  |  |  | 12.50% |  | 12.50% |  |  |  |  |
Proceeds from the issuance of debt |  |  | $ 10,000,000 |  |  |  |  |  |  |  |  |  |  |  |  |
Minimum Liquidity amount |  |  |  |  |  |  |  |  | $ 5,000,000 |  | $ 5,000,000 |  |  |  |  |
Twenty seventeen Note [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Minimum Liquidity amount |  |  |  |  |  |  |  |  |  |  | 2,000,000.0 |  |  |  |  |
Debt Instrument, Annual Principal Payment |  |  |  |  |  | 3,600,000 |  |  |  |  |  |  |  |  |  |
Twenty Eighteen Notes [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument, Face Amount |  |  |  |  |  |  |  |  |  |  | $ 3,000,000 |  |  |  |  |
Debt Instrument, Interest Rate |  |  |  |  |  |  |  |  |  |  | 12.50% |  |  |  |  |
Minimum Liquidity amount |  |  |  |  |  |  |  |  | 2,000,000 |  |  |  |  |  |  |
Debt Instrument, Annual Principal Payment |  |  |  |  |  | $ 2,400,000 |  |  |  |  |  |  |  |  |  |
Paycheck Protection Program Note [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument, Periodic Payment, Principal |  | $ 7,820,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument, Interest Rate, Stated Percentage |  |  |  |  |  |  |  |  |  |  |  |  |  | 1.00% |  |
Silicon Valley Bank [Member] | Paycheck Protection Program Note [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument, Face Amount |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 7,800,000 |  |
Subsequent Event [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt instrument frequency of periodic payment |  |  |  |  |  | 32 equal monthly installments |  |  |  |  |  |  |  |  |  |
Subsequent Event [Member] | Debt Instrument, Redemption, Period One [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument, Periodic Payment, Principal |  |  |  |  |  | $ 20,000,000.0 |  |  |  |  |  |  |  |  |  |
Repayments of Debt |  |  |  | $ 3,000,000 | $ 17,000,000 |  |  |  |  |  |  |  |  |  |  |
Subsequent Event [Member] | New Notes [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Proceeds from the issuance of debt |  |  | $ 10,000,000 |  |  |  |  |  |  |  |  |  |  |  |  |
Subsequent Event [Member] | Twenty seventeen Note [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument, Annual Principal Payment |  |  |  |  |  | 3,600,000 |  |  |  |  |  |  |  |  |  |
Subsequent Event [Member] | Twenty Eighteen Notes [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument, Annual Principal Payment |  |  |  |  |  | $ 2,400,000 |  |  |  |  |  |  |  |  |  |
Subsequent Event [Member] | Paycheck Protection Program Note [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument, Interest Rate, Stated Percentage |  |  |  |  |  |  |  |  |  |  |  |  | 1.00% |  |  |
Volvo Stock Purchase Warrant [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exercise price of warrants | $ / shares |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 43.3039 |
Fair value of warrants |  |  |  |  |  |  | $ 2,900,000 |  | $ 2,900,000 |  |  |  |  |  |  |
Luminar [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Maximum percentage of outstanding capital stock |  |  |  |  |  |  | 7.50% |  | 7.50% |  |  |  |  |  |  |
Series X Preferred Stock [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Additional issue of shares | shares |  |  |  |  |  |  | 102,101 |  | 102,101 |  |  |  |  |  |  |
Total gross proceeds of share issued |  |  |  |  |  |  |  |  | $ 13,860,000 |  |  |  |  |  |  |
Series X Preferred Stock [Member] | Luminar [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share price | $ / shares |  |  |  |  |  |  | $ 10.00 |  | $ 10.00 |  |  |  |  |  |  |
Common Stock, Value |  |  |  |  |  |  | $ 2,943,000,000 |  | $ 2,943,000,000 |  |  |  |  |  |  |
Maximum aggregate amount of additional capital raised |  |  |  |  |  |  | $ 13,900,000 |  | 13,900,000 |  |  |  |  |  |  |
Increase in preferred stock |  |  |  |  |  |  |  |  | $ 170,000,000 |  |  |  |  |  |  |
Common Class A [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common Stock, Shares | shares |  |  |  |  |  |  | 9,763,078 |  | 9,763,078 |  | 9,880,277 | 9,593,220 |  |  |  |
Common Stock, Value |  |  |  |  |  |  | $ 0 |  | $ 0 |  | $ 0 |  |  |  |  |
Common Class A [Member] | Luminar [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common Stock, Shares | shares |  |  |  |  |  |  | 218,818,037 |  | 218,818,037 |  |  |  |  |  |  |
Common Class B [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common Stock, Shares | shares |  |  |  |  |  |  | 0 |  | 0 |  | 0 |  |  |  |  |
Common Stock, Value |  |  |  |  |  |  | $ 0 |  | $ 0 |  | $ 0 |  |  |  |  |
Common stock voting rights |  |  |  |  |  |  |  |  | ten votes |  |  |  |  |  |  |
Common Class B [Member] | Subsequent Event [Member] | Chief Executive Officer [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock voting rights | ten votes |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exchange ratio for the temporary equity and stock exchanged with common stock | 10 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common Class B [Member] | Luminar [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common Stock, Shares | shares |  |  |  |  |  |  | 105,118,203 |  | 105,118,203 |  |  |  |  |  |  |
Common Class A And Class B [Member] | Luminar [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common Stock, Shares | shares |  |  |  |  |  |  | 25,818,749 |  | 25,818,749 |  |  |  |  |  |  |
Series A Redeemable Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Temporary equity par or stated value per share | $ / shares |  |  |  |  |  |  | $ 0.00001 |  | $ 0.00001 |  | $ 0.00001 | $ 0.00001 |  |  |  | $ 0.00001
Temporary equity issued during the period shares | shares |  |  |  |  |  |  |  | 244,827 |  | 1,585,674 | 1,585,674 |  |  |  |  |
Proceeds from issuance of Series A Convertible Preferred stock |  |  |  |  |  |  |  | $ 10,100,000 |  | $ 68,666,000 |  |  |  |  |  |
Series A Redeemable Convertible Preferred Stock | New Notes [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Debt Instrument percentage |  |  |  |  |  |  |  |  |  |  | 10.00% |  |  |  |  |
Series A Redeemable Convertible Preferred Stock | Volvo Stock Purchase Warrant [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of warrants or rights number of securities called by warrants or rights | shares |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 300,000 |
Temporary equity par or stated value per share | $ / shares |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0.00001 |
Series A Redeemable Convertible Preferred Stock | Volvo Stock Purchase Warrant [Member] | Volvo Car Technology Fund [Member] | Subsequent Event [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Class of warrants or rights number of securities called by warrants or rights | shares |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 300,000 |
Temporary equity par or stated value per share | $ / shares |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0.00001 |
Exercise price of warrants | $ / shares |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 43.3039 |
Series A Redeemable Convertible Preferred Stock | Future Reduction In Revenue [Member] | Volvo Stock Purchase Warrant [Member] | Volvo Car Technology Fund [Member] | Subsequent Event [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Fair value of warrants |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 2.9 |
Founders Convertible Preferred And Luminar Class A Common Stock [Member] | Subsequent Event [Member] | Chief Executive Officer [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock and temporary equity voting rights | one vote |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Series X Redeemable Convertible Preferred Stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Temporary equity par or stated value per share | $ / shares | $ 0.00001 |  |  |  |  |  | $ 0.00001 |  | $ 0.00001 |  | $ 0.00001 |  |  |  |  |
Temporary equity issued during the period shares | shares |  |  |  |  |  |  | 1,251,971 |  | 1,251,971 |  |  |  |  |  |  |
Temporary equity issue price per share | $ / shares | $ 135.79 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Proceeds from issuance of Series A Convertible Preferred stock |  |  |  |  |  |  | $ 170,000,000 |  | $ 170,000,000 |  | $ 170,000,000 |  |  |  |  |
Series X Redeemable Convertible Preferred Stock | Subsequent Event [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Temporary equity issued during the period shares | shares | 1,250,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Temporary equity issue price per share | $ / shares | $ 135.8 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Series X Redeemable Convertible Preferred Stock | Subsequent Event [Member] | Additional Authorization [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Temporary equity shares authorised amount | $ 30,000,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |

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