Velodyne Lidar (VLDR) 10-Q9 Aug 222022 Q2 Quarterly reportFinancial data

Company Profile

Cover

Cover - shares	6 Months Ended
Cover - shares	Jun. 30, 2022	Jul. 29, 2022
Document Information [Line Items]
Document Type	10-Q
Document Quarterly Report	true
Document Period End Date	Jun. 30, 2022
Document Transition Report	false
Entity File Number	001-38703
Entity Registrant Name	VELODYNE LIDAR, INC.
Entity Incorporation, State or Country Code	DE
Entity Tax Identification Number	83-1138508
Entity Address, Address Line One	5521 Hellyer Avenue
Entity Address, City or Town	San Jose
Entity Address, State or Province	CA
Entity Address, Postal Zip Code	95138
City Area Code	669
Local Phone Number	275-2251
Entity Current Reporting Status	Yes
Entity Interactive Data Current	Yes
Entity Filer Category	Large Accelerated Filer
Entity Small Business	false
Entity Emerging Growth Company	false
Entity Shell Company	false
Entity Common Stock, Shares Outstanding		219,717,302
Document Fiscal Period Focus	Q2
Amendment Flag	false
Current Fiscal Year End Date	--12-31
Document Fiscal Year Focus	2022
Entity Central Index Key	0001745317
Common Stock
Document Information [Line Items]
Title of 12(b) Security	Common stock, par value $0.0001 per share
Trading Symbol	VLDR
Security Exchange Name	NASDAQ
Warrant
Document Information [Line Items]
Title of 12(b) Security	Warrants, each exercisable for three-quarters of one share of common stock
Trading Symbol	VLDRW
Security Exchange Name	NASDAQ

Condensed Consolidated Balance

Condensed Consolidated Balance Sheets - USD ($) $ in Thousands	Jun. 30, 2022	Dec. 31, 2021
Current assets:
Cash and cash equivalents	$ 77,024	$ 24,064
Short-term investments	152,185	270,357
Accounts receivable, net	7,085	8,881
Inventories, net	13,467	9,299
Prepaid and other current assets	9,545	14,822
Total current assets	259,306	327,423
Property, plant and equipment, net	13,603	14,710
Operating lease right-of-use (“ROU”) assets	16,557	16,891
Goodwill	1,189	1,189
Intangible assets, net	448	724
Contract assets	9,182	12,962
Other assets	1,557	1,522
Total assets	301,842	375,421
Current liabilities:
Accounts payable	8,445	5,105
Accrued expense and other current liabilities	28,133	33,028
Operating lease liabilities, current	2,896	2,623
Contract liabilities, current	5,347	6,348
Total current liabilities	44,821	47,104
Operating lease liabilities, non-current	14,646	15,210
Contract liabilities, non-current	10,740	12,740
Long-term tax liabilities	449	443
Other long-term liabilities	988	661
Total liabilities	71,644	76,158
Commitments and contingencies (Note 14)
Stockholders’ equity:
Preferred stock	0	0
Common stock	22	20
Additional paid-in capital	851,132	825,988
Accumulated other comprehensive loss	(1,203)	(412)
Accumulated deficit	(619,753)	(526,333)
Total stockholders’ equity	230,198	299,263
Total liabilities and stockholders’ equity	$ 301,842	$ 375,421

Condensed Consolidated Statemen

Condensed Consolidated Statements of Operations - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Revenue	$ 11,507	$ 13,596	$ 17,687	$ 31,322
Cost of revenue	18,604	19,380	34,067	35,188
Gross loss	(7,097)	(5,784)	(16,380)	(3,866)
Operating expenses:
Research and development	18,757	17,009	40,054	35,387
Sales and marketing	5,340	47,176	11,345	54,251
General and administrative	13,430	19,133	25,747	36,169
Total operating expenses	37,527	83,318	77,146	125,807
Operating loss	(44,624)	(89,102)	(93,526)	(129,673)
Interest income	294	109	521	212
Interest expense	0	(41)	(3)	(77)
Other income (expense), net	(110)	10,136	(106)	10,119
Loss before income taxes	(44,440)	(78,898)	(93,114)	(119,419)
Provision for (benefit from) income taxes	(141)	339	306	635
Net loss	$ (44,299)	$ (79,237)	$ (93,420)	$ (120,054)
Net loss per share:
Basic (in USD per share)	$ (0.22)	$ (0.41)	$ (0.47)	$ (0.63)
Diluted (in USD per share)	$ (0.22)	$ (0.41)	$ (0.47)	$ (0.63)
Weighted-average shares used in computing net loss per share:
Basic (in shares)	198,947,058	193,002,807	198,414,502	191,123,251
Diluted (in shares)	198,947,058	193,002,807	198,414,502	191,123,251
Product
Revenue	$ 9,652	$ 11,970	$ 14,014	$ 22,563
Cost of revenue	18,347	19,210	33,543	34,839
License and services
Revenue	1,855	1,626	3,673	8,759
Cost of revenue	$ 257	$ 170	$ 524	$ 349

Condensed Consolidated Statem_2

Condensed Consolidated Statements of Comprehensive Loss - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Statement of Comprehensive Income [Abstract]
Net loss	$ (44,299)	$ (79,237)	$ (93,420)	$ (120,054)
Other comprehensive loss, net of tax:
Changes in unrealized loss on available for sale securities	13	22	(699)	11
Foreign currency translation adjustments	(75)	14	(92)	3
Total other comprehensive loss, net of tax	(62)	36	(791)	14
Comprehensive loss	$ (44,361)	$ (79,201)	$ (94,211)	$ (120,040)

Condensed Consolidated Statem_3

Condensed Consolidated Statements of Stockholders’ Equity - USD ($) $ in Thousands	Total	Prior Year Adjustment of Warrants	Common Stock	Additional Paid in Capital	Additional Paid in Capital Prior Year Adjustment of Warrants	Accumulated Other Comprehensive Loss	Accumulated Deficit	Accumulated Deficit Prior Year Adjustment of Warrants
Beginning balance (in shares) at Dec. 31, 2020			175,912,194
Beginning balance at Dec. 31, 2020	$ 340,823	$ 0	$ 18	$ 656,717	$ (1,585)	$ (230)	$ (315,682)	$ 1,585
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock under warrant exercises (in shares)			6,973,882
Issuance of common stock under warrant exercises	80,200		$ 1	80,199
Issuance of common stock under employee stock award plans, net of taxes (in shares)			6,798,504
Issuance of common stock under employee stock award plans	(37)			(37)
Stock-based compensation	11,530			11,530
Other comprehensive income (loss), net of tax	(22)					(22)
Net loss	(40,817)						(40,817)
Ending balance (in shares) at Mar. 31, 2021			189,684,580
Ending balance at Mar. 31, 2021	391,677		$ 19	746,824		(252)	(354,914)
Beginning balance (in shares) at Dec. 31, 2020			175,912,194
Beginning balance at Dec. 31, 2020	340,823	$ 0	$ 18	656,717	(1,585)	(230)	(315,682)	1,585
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Other comprehensive income (loss), net of tax	14
Net loss	(120,054)
Ending balance (in shares) at Jun. 30, 2021			195,227,814
Ending balance at Jun. 30, 2021	365,693		$ 20	800,040		(216)	(434,151)
Beginning balance (in shares) at Mar. 31, 2021			189,684,580
Beginning balance at Mar. 31, 2021	391,677		$ 19	746,824		(252)	(354,914)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Issuance of common stock under warrant exercises (in shares)			1,929
Issuance of common stock under warrant exercises	22			22
Issuance of common stock under employee stock award plans, net of taxes (in shares)			5,541,305
Issuance of common stock under employee stock award plans	0		$ 1	(1)
Stock-based compensation	53,195			53,195
Other comprehensive income (loss), net of tax	36					36
Net loss	(79,237)						(79,237)
Ending balance (in shares) at Jun. 30, 2021			195,227,814
Ending balance at Jun. 30, 2021	365,693		$ 20	800,040		(216)	(434,151)
Beginning balance (in shares) at Dec. 31, 2021			197,346,675
Beginning balance at Dec. 31, 2021	299,263		$ 20	825,988	(1,600)	(412)	(526,333)	1,600
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Common stock warrants issued to customer	5,303			5,303
Issuance of common stock under employee stock award plans, net of taxes (in shares)			916,819
Stock-based compensation	4,938			4,938
Other comprehensive income (loss), net of tax	(729)					(729)
Net loss	(49,121)						(49,121)
Ending balance (in shares) at Mar. 31, 2022			198,263,494
Ending balance at Mar. 31, 2022	259,654		$ 20	836,229		(1,141)	(575,454)
Beginning balance (in shares) at Dec. 31, 2021			197,346,675
Beginning balance at Dec. 31, 2021	299,263		$ 20	825,988	$ (1,600)	(412)	(526,333)	$ 1,600
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Other comprehensive income (loss), net of tax	(791)
Net loss	(93,420)
Ending balance (in shares) at Jun. 30, 2022			216,162,710
Ending balance at Jun. 30, 2022	230,198		$ 22	851,132		(1,203)	(619,753)
Beginning balance (in shares) at Mar. 31, 2022			198,263,494
Beginning balance at Mar. 31, 2022	259,654		$ 20	836,229		(1,141)	(575,454)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Common stock warrants issued to customer	942			942
Issuance of common stock under at the market (“ATM”) offering, net of issuance costs of $741 (in share)			6,471,048
Issuance of common stock under at the market (“ATM”) offering, net of issuance costs of $741	6,846		$ 1	6,845
Issuance of common stock under employee stock award plans, net of taxes (in shares)			11,428,168
Issuance of common stock under employee stock award plans	810		$ 1	809
Stock-based compensation	6,307			6,307
Other comprehensive income (loss), net of tax	(62)					(62)
Net loss	(44,299)						(44,299)
Ending balance (in shares) at Jun. 30, 2022			216,162,710
Ending balance at Jun. 30, 2022	$ 230,198		$ 22	$ 851,132		$ (1,203)	$ (619,753)

Condensed Consolidated Statem_4

Condensed Consolidated Statements of Stockholders’ Equity (Parenthetical) $ in Thousands	3 Months Ended
	Jun. 30, 2022 USD ($)
Statement of Stockholders' Equity [Abstract]
Payment of issuance costs related to ATM shares	$ 741

Condensed Consolidated Statem_5

Condensed Consolidated Statements of Cash Flows - USD ($) $ in Thousands	6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021
Cash flows from operating activities:
Net loss	$ (93,420)	$ (120,054)
Adjustments to reconcile net loss to cash used in operating activities:
Depreciation and amortization	4,362	4,114
Reduction of operating lease ROU assets	1,392	1,533
Stock-based compensation	11,245	64,725
Reduction of revenue related to stock warrant issued to customer	6,245	0
Provision for doubtful accounts	0	2,425
Gain from forgiveness of PPP loan	0	(10,124)
Amortization of investment premium or discount, net	671	0
Other	0	550
Changes in operating assets and liabilities:
Accounts receivable, net	1,795	2,082
Inventories, net	(4,168)	1,457
Prepaid and other current assets	5,794	3,512
Contract assets	3,262	(2,438)
Other assets	(35)	6
Accounts payable	3,508	(1,680)
Accrued expenses and other liabilities	(5,611)	(7,611)
Operating lease liabilities	(1,348)	(1,550)
Contract liabilities	(3,001)	264
Net cash used in operating activities	(69,309)	(62,789)
Cash flows from investing activities:
Purchase of property, plant and equipment and intangibles	(2,580)	(1,779)
Proceeds from sales of short-term investments	14,500	2,000
Proceeds from maturities of short-term investments	137,661	55,943
Purchase of short-term investments	(35,358)	(190,376)
Investment in notes receivable	0	(750)
Net cash provided by (used in) investing activities	114,223	(134,962)
Cash flows from financing activities:
Proceeds from issuance of ATM shares, net of transaction costs	7,395	0
Payment of issuance costs related to ATM shares	(51)	0
Payment of transaction costs related to Business Combination	0	(20,005)
Proceeds from warrant exercises, net of issuance costs	0	89,244
Proceeds from common stock issuance under equity incentive plans	811	0
Tax withholding payment for vested equity awards	0	(37)
Net cash provided by financing activities	8,155	69,202
Effect of exchange rate fluctuations on cash and cash equivalents	(109)	(15)
Net increase (decrease) in cash and cash equivalents	52,960	(128,564)
Beginning cash and cash equivalents	24,064	204,648
Ending cash and cash equivalents	77,024	76,084
Supplemental disclosures of cash flow information:
Cash paid for interest	3	77
Cash paid for income taxes, net	334	682
Cash paid for operating leases	1,835	2,256
Supplemental disclosure of noncash investing and financing activities:
Changes in accrued purchases of property, plant and equipment, and intangibles	842	5
Transaction costs included in accrued liabilities	500	0
ROU assets obtained in exchange for operating lease liabilities	$ 1,074	$ 340

Description of Business and Sum

Description of Business and Summary of Significant Accounting Policies	6 Months Ended
	Jun. 30, 2022
Accounting Policies [Abstract]
Description of Business and Summary of Significant Accounting Policies	Description of Business and Summary of Significant Accounting Policies Description of Business, Background and Nature of Operations Velodyne Lidar, Inc. (the “Company”, “Velodyne” or “Velodyne Lidar”) provides smart vision solutions that are advancing the development of safe automated systems throughout the world. The Company’s technology, which is used in various automotive and non-automotive applications, is empowering the autonomous revolution by allowing machines to see their surroundings in real-time and in 3D. The Company’s predecessor, Graf Industrial Corp. (“Graf”), was originally incorporated in Delaware as a special purpose acquisition company (“SPAC”). On September 29, 2020 (the “Closing Date”), Graf consummated a business combination (the “Business Combination”) with Velodyne Lidar, Inc. (the “pre-combination Velodyne”). Immediately upon the consummation of the Business Combination, Graf merged into the pre-combination Velodyne, with the pre-combination Velodyne surviving as a wholly-owned subsidiary of the Company. Graf changed its name to Velodyne Lidar, Inc. and the pre-combination Velodyne changed its name to Velodyne Lidar USA, Inc. Refer to Note 2. Business Combination for further discussion of the Business Combination. On September 30, 2020, Velodyne Lidar’s common stock and warrants began trading on the Nasdaq Global Select Market under the symbol “VLDR” and “VLDRW,” respectively. The Company has evaluated how it is organized and managed and has identified only one operating segment. Basis of Presentation The consolidated financial statements are prepared in accordance with accounting principles generally accepted in the United States of America (“U.S. GAAP”). The consolidated financial statements include the accounts of the Company’s wholly owned subsidiaries. All intercompany balances and transactions have been eliminated in consolidation. Reclassification Certain prior year amounts have been reclassified for consistency with the current year presentation. Specifically, operating lease ROU assets, current and non-current lease liabilities and non-current contract liabilities are now presented as separate line items on the consolidated balance sheets and were previously included within other assets, current liabilities and other long-term liabilities, respectively. In addition, operating lease liabilities are now presented as separate line items on the consolidated statements of cash flows and were previously included within accrued and other liabilities. Liquidity The Company has funded its operations primarily through proceeds realized from the Business Combination, issuances of stock, and sales to customers. As of June 30, 2022, the Company’s existing sources of liquidity included cash, cash equivalents and short-term investments of $229.2 million, continuing sale of its stocks under the ATM offering, available borrowing capacity of $4.2 million under a revolving credit facility. The Company has incurred losses and negative cash flows from operations. If the Company incurs additional losses in the future, it may need to raise additional capital through issuances of equity and debt. There can be no assurance that the Company would be able to raise such capital. However, management believes that the Company’s existing sources of liquidity are adequate to fund its operations for at least twelve months from the date the unaudited condensed consolidated financial statements for the quarter ended June 30, 2022 were available for issuance. Concentration of Risk Financial instruments that subject the Company to concentrations of credit risk consist primarily of cash and cash equivalents, short-term investments, and accounts receivable. The Company maintains its cash and cash equivalents, and short-term investments with high-quality financial institutes with investment-grade ratings. A majority of the cash balances are with U.S. banks and are insured to the extent defined by the Federal Deposit Insurance Corporation. The Company’s accounts receivable are derived from customers located both inside and outside the U.S. The Company mitigates its credit risks by performing ongoing credit evaluations of its customers’ financial conditions and requires customer advance payments in certain circumstances. The Company does not require collateral. The Company’s concentration of risk related to accounts receivable and accounts payable was as follows: June 30, December 31, 2022 2021 Customers accounted for 10% or more of accounts receivable: Customer A 22 % * Customer B 11 % * Customer C 11 % 16 % Customer D * 14 % Customer E * 11 % Vendors accounted for 10% or more of accounts payable: Vendor A 45 % 28 % Vendor B 11 % * * Less than 10%. Use of Estimates The preparation of consolidated financial statements in conformity with GAAP requires management to make estimates and assumptions that affect the reported amounts of assets and liabilities and disclosure of contingent assets and liabilities at the date of the consolidated financial statements and the reported amounts of revenues and expenses during the reporting period. Significant items subject to such estimates and assumptions include standalone selling price (“SSP”) for each distinct performance obligation in its customer contracts, total estimated future patents and their corresponding estimated development costs, total estimated costs and related progress towards complete satisfaction of performance obligation in certain services arrangements, allowances for doubtful accounts, inventory reserves, warranty reserves, valuation allowance for deferred tax assets, stock-based compensation, common stock warrant valuation, useful lives of property, plant, and equipment and intangible assets, assessment of the recoverability of long-lived assets, goodwill impairment, income tax uncertainties, and other loss contingencies. The Company bases its estimates on historical experience and also on assumptions that it believes are reasonable. Actual results could differ from those estimates, and such differences could be material to the Company’s consolidated financial condition and results of operations. Significant Accounting Policies Except for the change in certain policies described below, there have been no material changes to the Company's significant accounting policies, compared to the accounting policies described in Note 1, Description of Business and Summary of Significant Accounting Policies, in Notes to Consolidated Financial Statements in Item 8 of Part II of the Annual Report on Form 10-K for the year ended December 31, 2021. Amazon Warrant The Amazon Warrant (as defined in Note 9) is accounted for as an equity instrument and measured in accordance with Accounting Standards Codification (“ASC”) 718, Compensation – Stock Compensation. To determine the fair value of the Amazon Warrant, the Company used the Black-Scholes option pricing model, which is based in part on assumptions that require management to use judgment. For awards granted to a customer, which are not in exchange for distinct goods or services, the fair value of the awards earned based on service or performance conditions is recorded as a reduction of the transaction price in accordance with ASC 606, Revenue from Contracts with Customers. Accordingly, w hen Amazon makes payments and vesting conditions become probable of being achieved, the Company will record a non-cash stock-based reduction to revenue associated with the Amazon Warrant, which is calculated based on the grant date fair value of the Amazon Warrant shares. Recently Accounting Pronouncements Recently Issued Accounting Pronouncements In June 2016, the Financial Accounting Standards Board (“FASB”) issued Accounting Standards Update (“ASU”) 2016-13, Measurement of Credit Losses on Financial Instruments, which has subsequently been amended by ASU No. 2018-19, ASU No. 2019-04, ASU No. 2019-05, ASU No. 2019-11, ASU 2020-02 and ASU 2020-03 to provide additional guidance on the credit losses standard. The objective of the guidance in ASU 2016-13 is to allow entities to recognize estimated credit losses in the period that the change in valuation occurs. ASU 2016-13 requires an entity to present financial assets measured on an amortized cost basis on the balance sheet, net of an allowance for credit losses. Available for sale and held to maturity debt securities are also required to be held net of an allowance for credit losses. For smaller reporting companies, the standard is effective for fiscal years beginning after December 15, 2022, including interim periods within those fiscal years. Early adoption is permitted. The Company will adopt the new standard in the first quarter of 2023 and is currently evaluating the impact this standard will have on its consolidated financial statements and related footnote disclosures. Recently Adopted Accounting Pronouncements In October 2020, the FASB issued ASU 2020-10, Codification Improvements, which updates various codification topics by clarifying or improving disclosure requirements to align with the SEC’s regulations. ASU 2020-10 is effective for public companies, other than smaller reporting companies, for fiscal years beginning after December 15, 2020. For all other entities, ASU 2020-10 is effective for fiscal years beginning after December 15, 2021, and interim periods beginning after December 15, 2022. The Company adopted ASU 2020-10 on January 1, 2022. The adoption of this new standard did not have a significant impact on the Company’s consolidated financial statements and related footnote disclosures.

Business Combination and Relate

Business Combination and Related Transactions	6 Months Ended
Business Combination and Related Transactions	Jun. 30, 2022
Business Combination and Asset Acquisition [Abstract]
Business Combination and Related Transactions	Business Combination and Related Transactions On September 29, 2020, the Company consummated a business combination with the pre-combination Velodyne. Pursuant to ASC 805, for financial accounting and reporting purposes, the pre-combination Velodyne was deemed the accounting acquirer and the Company was treated as the accounting acquiree, and the Business Combination was accounted for as a reverse recapitalization. Accordingly, the Business Combination was treated as the equivalent of the pre-combination Velodyne issuing stock for the net assets of Graf, accompanied by a recapitalization. Under this method of accounting, the consolidated financial statements of the Company are the historical financial statements of the pre-combination Velodyne. The net assets of Graf were stated at historical costs, with no goodwill or other intangible assets recorded, and are consolidated with the pre-combination Velodyne's financial statements on the Closing date. The shares and net loss per share for periods prior to the Business Combination have been retroactively restated as shares reflecting the exchange ratio established in the merger agreement. The aggregate consideration for the Business Combination and related transactions was approximately $1.8 billion, consisting of (i) $222.1 million in cash at the closing of the Business Combination, net of transaction expenses, and (ii) 150,277,532 shares of common stock valued at $10.25 per share, totaling approximately $1.5 billion. The Company used approximately $1.8 million of the proceeds to repurchase and retire 175,744 shares of Company common stock from certain stockholders in the pre-closing tender offer.

Revenue

Revenue	6 Months Ended
Revenue	Jun. 30, 2022
Revenue from Contract with Customer [Abstract]
Revenue	RevenueDisaggregation of Revenues The Company disaggregates its revenue from contracts with customers by geographic region based on the shipping location of the customer, type of good or service and timing of transfer of goods or services to customers (point-in-time or over time), as it believes it best depicts how the nature, amount, timing and uncertainty of its revenue and cash flows are affected by economic factors. Total revenue based on the disaggregation criteria described above is as follows (dollar in thousands, percentage may not foot due to rounding difference): Three Months Ended June, 30, 2022 June, 30, 2021 Revenue % of Revenue Revenue % of Revenue Revenue by geography: North America (1) $ 4,292 37 % $ 5,271 38 % Asia Pacific (2) 3,645 32 % 5,255 39 % Europe, Middle East and Africa 3,570 31 % 3,070 23 % Total $ 11,507 100 % $ 13,596 100 % Revenue by products and services: Products (1) $ 9,652 84 % $ 11,970 88 % License and services (2) 1,855 16 % 1,626 12 % Total $ 11,507 100 % $ 13,596 100 % Revenue by timing of recognition: Goods transferred at a point in time (1) $ 10,075 88 % $ 12,272 90 % Goods and services transferred over time (2) 1,432 12 % 1,324 10 % Total $ 11,507 100 % $ 13,596 100 % Six Months Ended June, 30, 2022 June, 30, 2021 Revenue % of Revenue Revenue % of Revenue Revenue by geography: North America (1) $ 2,988 17 % $ 10,315 33 % Asia Pacific (2) 8,551 48 % 14,761 47 % Europe, Middle East and Africa 6,148 35 % 6,246 20 % Total $ 17,687 100 % $ 31,322 100 % Revenue by products and services: Products (1) $ 14,014 79 % $ 22,563 72 % License and services (2) 3,673 21 % 8,759 28 % Total $ 17,687 100 % $ 31,322 100 % Revenue by timing of recognition: Goods transferred at a point in time (1) $ 14,833 84 % $ 28,942 92 % Goods and services transferred over time (2) 2,854 16 % 2,380 8 % Total $ 17,687 100 % $ 31,322 100 % (1) Includes a non-cash stock-based reduction of revenue of $0.9 million and $6.2 million, respectively, for the three and six months ended June 30 2022 associated with the Amazon Warrant agreement entered into in February 2022. See Note 9 for more information. (2) Includes license revenue of $0.9 million and $1.9 million, respectively, related to patent cross-license agreements for the three and six months ended June 30, 2022, and $0.9 million and $7.3 million, respectively, for the three and six months ended June 30, 2021. In June 2020, the Company entered into a patent cross-license agreement related to its litigation settlement with a customer in Asia Pacific. Under the terms of the arrangement, the customer agreed to make a one-time license payment upon settlement, will make annual fixed royalty payments through 2024, and thereafter, will make product sales royalty payments through February 2030. In September 2020, Velodyne entered into another patent cross-license agreement related to its litigation with a different customer in Asia Pacific. As of June 30, 2022 and December 31, 2021, the Company had $3.8 million and $3.8 million, respectively, of current deferred revenue, and $10.1 million and $11.9 million, respectively, of long-term deferred revenue associated with the rights granted as part of these patent cross-license agreements to receive future patents as they represent stand ready obligations. As of June 30, 2022 and December 31, 2021, the Company also had $13.0 million and $16.3 million, respectively, of contract assets related to these patent cross-license agreements. Contract Assets and Contract Liabilities Contract assets primarily relate to unbilled accounts receivable. Unbilled amounts arise when the timing of billing differs from the timing of revenue recognized, such as when revenue is recognized on guaranteed minimums at the inception of the contract when there is not yet a right to invoice in accordance with contract terms. Unbilled amounts are recorded as a contract asset when the revenue associated with the contract is recognized prior to billing and reclassified to accounts receivable when billed in accordance with the terms of the contract. Contract liabilities consist of deferred revenue, customer advanced payments and customer deposits. Deferred revenue includes billings in excess of revenue recognized related to product sales, licenses, extended warranty and other services revenue, and is recognized as revenue when the Company performs under the contract. The long-term portion of deferred revenue, mostly related to obligations under license arrangements and extended warranty, is classified as non-current contract liabilities and is included in other long-term liabilities in the Company’s consolidated balance sheets. Customer advanced payments represent required customer payments in advance of product shipments according to customer’s payment term. Customer advance payments are recognized as revenue when control of the performance obligation is transferred to the customer. Customer deposits represent consideration received from a customer which can be applied to future product or service purchases, or refunded. Contract assets and contract liabilities consisted of the following as of June 30, 2022 and December 31, 2021 (in thousands): June 30, December 31, 2022 2021 Contract assets, current Unbilled accounts receivable $ 3,830 $ 3,313 Contract assets, long-term Unbilled accounts receivable 9,182 12,962 Total contract assets $ 13,012 $ 16,275 Contract liabilities, current Deferred revenue, current $ 5,278 $ 6,209 Customer advance payment 69 139 Total 5,347 6,348 Contract liabilities, long-term Deferred revenue, long-term 10,740 12,740 Total contract liabilities $ 16,087 $ 19,088 The following table shows the significant changes in contract assets and contract liabilities balances (in thousands): Six Months Ended June 30, 2022 2021 Contract assets: Beginning balance $ 16,275 $ 11,253 Transferred to receivables from contract assets recognized at the beginning of the period (3,313) (2,813) Increase due to unbilled and recognized as revenue in excess of billings during the period, net of amounts transferred to receivables 50 5,251 Ending balance $ 13,012 $ 13,691 Contract liabilities: Beginning balance $ 19,088 $ 22,055 Revenue recognized that was included in the contract liabilities beginning balance (4,120) (5,972) Increase due to cash received and not recognized as revenue and billings in excess of revenue recognized during the period 1,119 6,236 Ending balance $ 16,087 $ 22,319

Fair Value Measurement

Fair Value Measurement	6 Months Ended
Fair Value Measurement	Jun. 30, 2022
Fair Value Disclosures [Abstract]
Fair Value Measurement	Fair Value Measurement The Company categorizes assets and liabilities recorded at fair value on the consolidated balance sheet based on the level of judgment associated with inputs used to measure their fair value. For assets and liabilities measured at fair value, fair value is the price that would be received from selling an asset or paid to transfer a liability in an orderly transaction between market participants at the measurement date. When determining fair value, the Company considers the principal or most advantageous market in which the Company would transact, and the Company considers assumptions that market participants would use when pricing the asset or liability. The three levels of inputs that may be used to measure fair value are: • Level 1 — Quoted prices in active markets for identical assets or liabilities. • Level 2 — Observable inputs other than Level 1 prices, such as quoted prices for similar assets and liabilities in active markets or quoted prices in less active market. All significant inputs used in the valuations are observable or can be directly or indirectly through market corroboration, for substantially the full term of the assets or liabilities. • Level 3 — Unobservable inputs are based on assumptions used to measure assets and liabilities at fair value. The inputs require significant management judgment or estimation. The Company monitors and review the inputs to ensure the fair value measurements are reasonable and consistent with market experience in similar asset classes. The following table summarize the Company’s assets measured at fair value on a recurring basis, by level, within the fair value hierarchy (in thousands): June 30, 2022 Level 1 Level 2 Level 3 Total Cash equivalents: Money market fund $ 60,008 $ — $ — $ 60,008 Total cash equivalents 60,008 — — 60,008 Short-term investments: Money market fund 7 — — 7 Commercial paper — 74,300 — 74,300 Corporate debt securities — 77,878 — 77,878 Total short-term investments 7 152,178 — 152,185 Total assets measured at fair value $ 60,015 $ 152,178 $ — $ 212,193 December 31, 2021 Level 1 Level 2 Level 3 Total Cash equivalents: Money market fund $ 391 $ — $ — $ 391 Total cash equivalents 391 — — 391 Short-term investments: Money market fund 7 — — 7 Commercial paper — 130,983 — 130,983 Corporate debt securities — 139,367 — 139,367 Total short-term investments 7 270,350 — 270,357 Total assets measured at fair value $ 398 $ 270,350 $ — $ 270,748

Balance Sheet Components

Balance Sheet Components	6 Months Ended
Balance Sheet Components	Jun. 30, 2022
Organization, Consolidation and Presentation of Financial Statements [Abstract]
Balance Sheet Components	Balance Sheet Components Accounts Receivables, Net Accounts receivables, net consist of the following (in thousands): June 30, December 31, 2022 2021 Accounts receivable $ 10,292 $ 12,088 Allowance for doubtful accounts (3,207) (3,207) Accounts receivable, net $ 7,085 $ 8,881 Inventories, Net Inventories, net of reserve, consist of the following (in thousands): June 30, December 31, 2022 2021 Raw materials $ 7,112 $ 6,585 Work-in-process 3,590 1,883 Finished goods 2,765 831 Total inventories $ 13,467 $ 9,299 The raw materials inventory included consigned inventory of $2.5 million and $1.5 million, respectively, as of June 30, 2022 and December 31, 2021. Prepaid and Other Current Assets Prepaid and other current assets consist of the following (in thousands): June 30, December 31, 2022 2021 Prepaid expenses and deposits $ 3,082 $ 7,883 Due from contract manufacturers and vendors 1,523 1,302 Prepaid taxes 289 1,223 Contract assets 3,830 3,313 Other 821 1,101 Total prepaid and other current assets $ 9,545 $ 14,822 Property, Plant and Equipment, Net Property, plant and equipment, at cost, consist of the following (in thousands): June 30, December 31, 2022 2021 Machinery and equipment $ 38,791 $ 36,264 Leasehold improvements 6,990 6,752 Furniture and fixtures 1,498 1,497 Vehicles 359 359 Software 1,951 1,337 Assets under construction 1,480 1,900 51,069 48,109 Less: accumulated depreciation and amortization (37,466) (33,399) Property, plant and equipment, net $ 13,603 $ 14,710 The Company purchased all finance lease equipment during the first quarter of 2022. The aggregate depreciation and amortization related to property, plant and equipment was as follows (in thousands): Three Months Ended June 30, Six Months Ended June 30, 2022 2021 2022 2021 Depreciation and amortization on property, plant and equipment $ 2,068 $ 1,964 $ 4,086 $ 3,921 Intangible Assets, Net Intangible assets, net, consist of the following (in thousands): Gross Carrying Amount Accumulated Amortization Net Book Value As of June 30, 2022: Developed technology $ 1,696 $ 1,248 $ 448 As of December 31, 2021: Developed technology $ 1,696 $ 972 $ 724 Amortization of intangible assets is as follows (in thousands): Three Months Ended June 30, Six Months Ended June 30, 2022 2021 2022 2021 Amortization of intangible assets $ 122 $ 97 $ 276 $ 193 Other Assets Other assets, non-current, consist of the following (in thousands): June 30, December 31, 2022 2021 Notes receivable 750 750 Deposits and other 807 772 Total other assets $ 1,557 $ 1,522 In May 2021, the Company entered into a convertible note receivable agreement (the “Note”) with a borrower wherein Velodyne agreed to lend $750,000 at an interest rate of 0% per annum as a nonrecourse investment. The Note is convertible into equity at the election of the borrower or the Company upon occurrence of certain new financing or corporate transactions. The maturity date of the Note is May 11, 2024. Accrued Expenses and Other Current Liabilities Accrued expenses and other current liabilities consisted of the following (in thousands): June 30, December 31, 2022 2021 Accrued payroll expenses $ 9,790 $ 13,550 Accrued manufacturing costs 2,918 3,925 Accrued transaction costs 5,000 5,000 Accrued professional and consulting fees 5,353 3,411 Accrued warranty costs 1,886 1,934 Accrued taxes 913 1,017 Legal proceedings accrual 866 825 Other 1,407 3,366 Total accrued expense and other current liabilities $ 28,133 $ 33,028

Leases

Leases	6 Months Ended
Leases	Jun. 30, 2022
Leases [Abstract]
Leases	Leases The Company leases real estate, equipment and automobiles in the U.S. and internationally. The Company leases office facilities under non-cancelable operating leases that expire on various dates through December 2027, including office and manufacturing space in San Jose, California used as its corporate headquarters. The leases do not contain any material residual value guarantees or restrictive covenants. Lease cost, which consisted primarily of operating lease cost, was $1.0 million and $2.0 million, respectively, for the three and six months ended June 30, 2022, and $1.1 million and $2.2 million, respectively, for the three and six months ended June 30, 2021. Other information related to leases were as follows: June 30, 2022 December 31, 2021 Weighted average remaining lease term (years) 5.31 5.91 Weighted average discount rate 6.53 % 6.37 % As of June 30, 2022, maturities of lease liabilities were as follows: Years Ending December 31, Operating Leases 2022 (remaining six months) $ 1,944 2023 3,793 2024 3,869 2025 3,701 2026 3,670 Thereafter 3,779 Total lease payments $ 20,756 Less amount representing interest (3,214) Present value of lease liabilities $ 17,542
Leases	Leases The Company leases real estate, equipment and automobiles in the U.S. and internationally. The Company leases office facilities under non-cancelable operating leases that expire on various dates through December 2027, including office and manufacturing space in San Jose, California used as its corporate headquarters. The leases do not contain any material residual value guarantees or restrictive covenants. Lease cost, which consisted primarily of operating lease cost, was $1.0 million and $2.0 million, respectively, for the three and six months ended June 30, 2022, and $1.1 million and $2.2 million, respectively, for the three and six months ended June 30, 2021. Other information related to leases were as follows: June 30, 2022 December 31, 2021 Weighted average remaining lease term (years) 5.31 5.91 Weighted average discount rate 6.53 % 6.37 % As of June 30, 2022, maturities of lease liabilities were as follows: Years Ending December 31, Operating Leases 2022 (remaining six months) $ 1,944 2023 3,793 2024 3,869 2025 3,701 2026 3,670 Thereafter 3,779 Total lease payments $ 20,756 Less amount representing interest (3,214) Present value of lease liabilities $ 17,542

Accumulated Other Comprehensive

Accumulated Other Comprehensive Loss	6 Months Ended
Accumulated Other Comprehensive Loss	Jun. 30, 2022
Equity [Abstract]
Accumulated Other Comprehensive Loss	Accumulated Other Comprehensive Loss Accumulated other comprehensive loss was comprised of the following (in thousands): June 30, December 31, 2022 2021 Foreign currency translation loss $ (276) $ (184) Unrealized loss on investments (927) (228) Total accumulated other comprehensive loss $ (1,203) $ (412) During the six months ended June 30, 2022 and 2021, there were no significant amounts related to foreign currency translation loss or realized gains or loss on investments reclassified to net loss from accumulated other comprehensive loss. Common Stock On September 29, 2020, the Company consummated a business combination with the pre-combination Velodyne. On September 30, 2020, Velodyne Lidar’s common stock and warrants began trading on the Nasdaq Global Select Market under the symbol “VLDR” and “VLDRW,” respectively. In connection with the Business Combination, outstanding common stock and preferred stock of the pre-combination Velodyne were converted into common stock of the Company. As discussed in Note 2, Business Combination, the Company has retroactively adjusted the pre-combination common and preferred shares issued and outstanding prior to September 29, 2020 to give effect to the exchange ratio established in the Merger Agreement to determine the number of shares of common stock into which they were converted. The Company is authorized to issue up to 2,250,000,000 shares of common stock, each with a par value of $0.0001 per share. The following summarizes the Company’s common stock outstanding as of June 30, 2022 and December 31, 2021: June 30, December 31, 2022 2021 Converted pre-combination Velodyne common stock outstanding 9,575,438 82,024,874 Converted pre-combination Velodyne preferred stock outstanding 24,772,759 24,772,759 Graf Founder shares 142,800 157,800 Other stockholders 181,671,713 90,391,242 Total common stock issued and outstanding 216,162,710 197,346,675 ATM Offering On June 15, 2022, the Company entered into an Equity Distribution Agreement (the “ATM Agreement”) with Oppenheimer & Co. Inc. (“Oppenheimer”), pursuant to which, from time to time, the Company may raise up to $100 million by selling shares of its common stock, par value $0.0001 per share (“the ATM Shares”). The ATM Shares will be issued pursuant to its shelf registration statement on Form S-3 that became effective on May 11, 2022. Subject to the terms and conditions of the ATM Agreement, Oppenheimer will use commercially reasonable efforts consistent with its normal trading and sales practices to sell the shares from time to time, based upon the Company’s instructions, and is entitled to a commission at a rate equal to 2.5% of the gross price of any ATM Shares sold through Oppenheimer. The ATM offering will terminate upon the earlier of (i) the sale of all common stock subject to the ATM Agreement or (ii) termination of the ATM Agreement in accordance with its terms. The Company is not required to sell any shares at any time during the term of the ATM Agreement. Net proceeds from the sale of ATM Shares will be used for general corporate purposes. The Company records the sale of its ATM Shares on a settlement date basis. For the three months ended June 30, 2022, the Company received net proceeds of approximately $6.8 million (after deducting $0.7 million in commissions and expenses) from sales of 6,471,048 ATM Shares at an average price of $1.17 per share pursuant to the ATM Agreement. Preferred Stock The Company is authorized to issue up to 25,000,000 shares of preferred stock, each with a par value of $0.0001 per share. As of June 30, 2022, no shares of preferred stock were issued and outstanding. Dividends The Company has not paid any cash dividends on the common stock to date. The Company may retain future earnings, if any, for future operations, expansion and debt repayment and has no current plans to pay cash dividends for the foreseeable future. Any decision to declare and pay dividends in the future will be made at the discretion of the Board and will depend on, among other things, the Company’s results of operations, financial condition, cash requirements, contractual restrictions and other factors that the Board may deem relevant. In addition, the Company’s ability to pay dividends may be limited by covenants of any existing and future outstanding indebtedness the Company or its subsidiaries incur. Public Warrants Upon the closing of the Business Combination, there were 24,876,512 outstanding warrants to purchase shares of the Company’s common stock that were issued by Graf prior to the Business Combination. Each whole warrant entitles the holder to purchase three-quarters of one share of the Company’s common stock at a price of $11.50 per share, subject to adjustments. The warrants are exercisable at any time commencing 30 days after the completion of the Business Combination and expire five years after the completion of the Business Combination. The Company may redeem the outstanding warrants in whole and not in part at a price of $0.01 per warrant at any time after they become exercisable, provided that the last sale price of the Company’s common stock equals or exceeds $18.00 per share, subject to adjustments, for any 20-trading days within a 30-trading day period ending three In connection with the Business Combination, on October 19, 2020, the Company registered the issuance of an aggregate of up to 18,657,384 shares of its common stock that are issuable upon the exercise of its warrants, including up to 375,000 shares of its common stock issuable upon exercise of its working capital warrants issued to Graf LLC. The following summarizes the Company’s outstanding warrants and common stock issuance related to the warrant exercises: June 30, December 31, 2022 2021 Warrants outstanding upon Closing 24,876,512 24,876,512 Warrants exercised to date 18,902,642 18,902,642 Warrants outstanding 5,973,870 5,973,870 Aggregated common shares issuable upon exercise of warrants 18,657,384 18,657,384 Common shares issued upon exercise of warrants 14,176,959 14,176,959 Remaining common shares issuable upon exercise of warrants 4,480,425 4,480,425 On April 12, 2021, the Acting Director of the Division of Corporation Finance and Acting Chief Accountant of the Securities and Exchange Commission (the “SEC”) issued a statement regarding accounting and reporting considerations for warrants issued by SPACs. In light of the issues raised by the SEC, the Company re-evaluated its accounting position for the warrants and concluded that certain warrants should have been classified as a liability measured at fair value for the 30-day period from September 29, 2020 to October 29, 2020. Accounting for these warrants as a liability instead of equity would have reduced non-operating expense and net loss by $1.6 million for 2020. Additionally, a corresponding $1.6 million adjustment would have been made to reduce its accumulated deficit with an offsetting adjustment to additional paid in capital in its equity accounts at December 31, 2020. The Company has concluded that the effects of accounting for the warrants as a liability instead of equity were immaterial to its previously issued financial statements and, accordingly, made an adjustment to its equity accounts for the effects of the accounting for the warrants in its consolidated statement of stockholders’ equity and balance sheet at December 31, 2021 by decreasing its accumulated deficit by $1.6 million with an offsetting decrease to its additional paid in capital. Amazon Warrant In February 2022, the Company and Amazon.com (“Amazon”) entered into a warrant agreement and a transaction agreement, pursuant to which Velodyne agreed to issue to Amazon.com NV Investment Holdings LLC, a wholly-owned subsidiary of Amazon, a warrant (“Amazon Warrant”) to acquire up to an aggregate of 39,594,032 shares of the Company’s common stock at an exercise price of $4.18 per share. The exercise price and the warrant shares issuable upon exercise of the warrant are subject to customary antidilution adjustments. Following stock sales under the Company’s ATM offering, as of June 30, 2022, the antidilution adjustments provided Amazon with warrants to acquire an additional 50,394 shares, for an aggregate of 39,644,426 shares. The right to exercise the warrants and receive the warrant shares that have vested expires February 4, 2030 . The warrant agreement also contains customary change-in-control provisions. The Amazon Warrant shares vest in multiple tranches over time based on payments of up to $200 million by Amazon or its affiliates (directly or indirectly through third parties) to the Company in connection with Amazon’s purchase of goods and services from the Company. Upon entry into an additional commercial agreement, certain warrant shares will vest, and the number of shares that vest in connection with future payments by Amazon to Velodyne will be reduced pro rata. As of June 30, 2022, zero of the Amazon Warrant shares are vested. When Amazon makes payments, and vesting conditions become probable of being achieved, the Company will record a non-cash stock-based reduction to revenue associated with the Amazon Warrant, which is calculated based on the grant date fair value of the Amazon Warrant shares. The fair value of the Amazon Warrant shares was measured on the grant date using the Black-Scholes option pricing model with assumptions as follows: Six Months Ended June 30, 2022 Expected term, in years 6.00 Expected volatility 50.00% Risk-free interest rate 1.84% Expected dividend yield 0%

Credit Facilities and Notes Pay

Credit Facilities and Notes Payable	6 Months Ended
Credit Facilities and Notes Payable	Jun. 30, 2022
Debt Disclosure [Abstract]
Credit Facilities and Notes Payable	Credit Facilities and Notes Payable The Company has a loan and security agreement with a financial institution that expires on February 24, 2023. The credit agreement, which was entered into in September 2020 and last amended in February 2022, provides a $25.0 million revolving line of credit, with a $5.0 million letter of credit sublimit. The advances under the credit facility bear interest at a rate per annum equal to the prime rate plus an applicable margin of 1.5% for prime rate advances, or the SOFR rate plus an applicable margin of 2.5% for SOFR advances. The revolving line of credit is secured by certain assets of the Company. As of June 30, 2022, there were no amounts outstanding under this credit facility and the Company was in compliance with all associated covenants in the agreement. As of June 30, 2022, the credit facility had $4.2 million available for borrowing. On April 8, 2020, the Company received loan proceeds of $10.0 million under the Coronavirus Aid, Relief, and Economic Security Act (“CARES Act”) Paycheck Protection Program (“PPP”). The Company filed for the forgiveness of the PPP loan and was approved for forgiveness of such loan and interest on June 30, 2021. The Company recorded a $10.1 million gain from the forgiveness of the PPP loan and related interest in other income for the three months ended June 30, 2021.

Stockholders_ Equity

Stockholders’ Equity	6 Months Ended
Stockholders’ Equity	Jun. 30, 2022
Equity [Abstract]
Stockholders' Equity	Accumulated Other Comprehensive Loss Accumulated other comprehensive loss was comprised of the following (in thousands): June 30, December 31, 2022 2021 Foreign currency translation loss $ (276) $ (184) Unrealized loss on investments (927) (228) Total accumulated other comprehensive loss $ (1,203) $ (412) During the six months ended June 30, 2022 and 2021, there were no significant amounts related to foreign currency translation loss or realized gains or loss on investments reclassified to net loss from accumulated other comprehensive loss. Common Stock On September 29, 2020, the Company consummated a business combination with the pre-combination Velodyne. On September 30, 2020, Velodyne Lidar’s common stock and warrants began trading on the Nasdaq Global Select Market under the symbol “VLDR” and “VLDRW,” respectively. In connection with the Business Combination, outstanding common stock and preferred stock of the pre-combination Velodyne were converted into common stock of the Company. As discussed in Note 2, Business Combination, the Company has retroactively adjusted the pre-combination common and preferred shares issued and outstanding prior to September 29, 2020 to give effect to the exchange ratio established in the Merger Agreement to determine the number of shares of common stock into which they were converted. The Company is authorized to issue up to 2,250,000,000 shares of common stock, each with a par value of $0.0001 per share. The following summarizes the Company’s common stock outstanding as of June 30, 2022 and December 31, 2021: June 30, December 31, 2022 2021 Converted pre-combination Velodyne common stock outstanding 9,575,438 82,024,874 Converted pre-combination Velodyne preferred stock outstanding 24,772,759 24,772,759 Graf Founder shares 142,800 157,800 Other stockholders 181,671,713 90,391,242 Total common stock issued and outstanding 216,162,710 197,346,675 ATM Offering On June 15, 2022, the Company entered into an Equity Distribution Agreement (the “ATM Agreement”) with Oppenheimer & Co. Inc. (“Oppenheimer”), pursuant to which, from time to time, the Company may raise up to $100 million by selling shares of its common stock, par value $0.0001 per share (“the ATM Shares”). The ATM Shares will be issued pursuant to its shelf registration statement on Form S-3 that became effective on May 11, 2022. Subject to the terms and conditions of the ATM Agreement, Oppenheimer will use commercially reasonable efforts consistent with its normal trading and sales practices to sell the shares from time to time, based upon the Company’s instructions, and is entitled to a commission at a rate equal to 2.5% of the gross price of any ATM Shares sold through Oppenheimer. The ATM offering will terminate upon the earlier of (i) the sale of all common stock subject to the ATM Agreement or (ii) termination of the ATM Agreement in accordance with its terms. The Company is not required to sell any shares at any time during the term of the ATM Agreement. Net proceeds from the sale of ATM Shares will be used for general corporate purposes. The Company records the sale of its ATM Shares on a settlement date basis. For the three months ended June 30, 2022, the Company received net proceeds of approximately $6.8 million (after deducting $0.7 million in commissions and expenses) from sales of 6,471,048 ATM Shares at an average price of $1.17 per share pursuant to the ATM Agreement. Preferred Stock The Company is authorized to issue up to 25,000,000 shares of preferred stock, each with a par value of $0.0001 per share. As of June 30, 2022, no shares of preferred stock were issued and outstanding. Dividends The Company has not paid any cash dividends on the common stock to date. The Company may retain future earnings, if any, for future operations, expansion and debt repayment and has no current plans to pay cash dividends for the foreseeable future. Any decision to declare and pay dividends in the future will be made at the discretion of the Board and will depend on, among other things, the Company’s results of operations, financial condition, cash requirements, contractual restrictions and other factors that the Board may deem relevant. In addition, the Company’s ability to pay dividends may be limited by covenants of any existing and future outstanding indebtedness the Company or its subsidiaries incur. Public Warrants Upon the closing of the Business Combination, there were 24,876,512 outstanding warrants to purchase shares of the Company’s common stock that were issued by Graf prior to the Business Combination. Each whole warrant entitles the holder to purchase three-quarters of one share of the Company’s common stock at a price of $11.50 per share, subject to adjustments. The warrants are exercisable at any time commencing 30 days after the completion of the Business Combination and expire five years after the completion of the Business Combination. The Company may redeem the outstanding warrants in whole and not in part at a price of $0.01 per warrant at any time after they become exercisable, provided that the last sale price of the Company’s common stock equals or exceeds $18.00 per share, subject to adjustments, for any 20-trading days within a 30-trading day period ending three In connection with the Business Combination, on October 19, 2020, the Company registered the issuance of an aggregate of up to 18,657,384 shares of its common stock that are issuable upon the exercise of its warrants, including up to 375,000 shares of its common stock issuable upon exercise of its working capital warrants issued to Graf LLC. The following summarizes the Company’s outstanding warrants and common stock issuance related to the warrant exercises: June 30, December 31, 2022 2021 Warrants outstanding upon Closing 24,876,512 24,876,512 Warrants exercised to date 18,902,642 18,902,642 Warrants outstanding 5,973,870 5,973,870 Aggregated common shares issuable upon exercise of warrants 18,657,384 18,657,384 Common shares issued upon exercise of warrants 14,176,959 14,176,959 Remaining common shares issuable upon exercise of warrants 4,480,425 4,480,425 On April 12, 2021, the Acting Director of the Division of Corporation Finance and Acting Chief Accountant of the Securities and Exchange Commission (the “SEC”) issued a statement regarding accounting and reporting considerations for warrants issued by SPACs. In light of the issues raised by the SEC, the Company re-evaluated its accounting position for the warrants and concluded that certain warrants should have been classified as a liability measured at fair value for the 30-day period from September 29, 2020 to October 29, 2020. Accounting for these warrants as a liability instead of equity would have reduced non-operating expense and net loss by $1.6 million for 2020. Additionally, a corresponding $1.6 million adjustment would have been made to reduce its accumulated deficit with an offsetting adjustment to additional paid in capital in its equity accounts at December 31, 2020. The Company has concluded that the effects of accounting for the warrants as a liability instead of equity were immaterial to its previously issued financial statements and, accordingly, made an adjustment to its equity accounts for the effects of the accounting for the warrants in its consolidated statement of stockholders’ equity and balance sheet at December 31, 2021 by decreasing its accumulated deficit by $1.6 million with an offsetting decrease to its additional paid in capital. Amazon Warrant In February 2022, the Company and Amazon.com (“Amazon”) entered into a warrant agreement and a transaction agreement, pursuant to which Velodyne agreed to issue to Amazon.com NV Investment Holdings LLC, a wholly-owned subsidiary of Amazon, a warrant (“Amazon Warrant”) to acquire up to an aggregate of 39,594,032 shares of the Company’s common stock at an exercise price of $4.18 per share. The exercise price and the warrant shares issuable upon exercise of the warrant are subject to customary antidilution adjustments. Following stock sales under the Company’s ATM offering, as of June 30, 2022, the antidilution adjustments provided Amazon with warrants to acquire an additional 50,394 shares, for an aggregate of 39,644,426 shares. The right to exercise the warrants and receive the warrant shares that have vested expires February 4, 2030 . The warrant agreement also contains customary change-in-control provisions. The Amazon Warrant shares vest in multiple tranches over time based on payments of up to $200 million by Amazon or its affiliates (directly or indirectly through third parties) to the Company in connection with Amazon’s purchase of goods and services from the Company. Upon entry into an additional commercial agreement, certain warrant shares will vest, and the number of shares that vest in connection with future payments by Amazon to Velodyne will be reduced pro rata. As of June 30, 2022, zero of the Amazon Warrant shares are vested. When Amazon makes payments, and vesting conditions become probable of being achieved, the Company will record a non-cash stock-based reduction to revenue associated with the Amazon Warrant, which is calculated based on the grant date fair value of the Amazon Warrant shares. The fair value of the Amazon Warrant shares was measured on the grant date using the Black-Scholes option pricing model with assumptions as follows: Six Months Ended June 30, 2022 Expected term, in years 6.00 Expected volatility 50.00% Risk-free interest rate 1.84% Expected dividend yield 0%

Stock-Based Compensation

Stock-Based Compensation	6 Months Ended
Stock-Based Compensation	Jun. 30, 2022
Share-Based Payment Arrangement [Abstract]
Stock-Based Compensation	Stock-Based Compensation Equity Incentive Plans 2020 Equity Incentive Plan In connection with the Business Combination, on September 29, 2020, the Company's stockholders approved the 2020 Equity Incentive Plan (the “2020 Plan”), which provides for the grant of stock options, stock appreciation rights, restricted stock awards and units (“RSAs” and “RSUs”), and other stock or cash-based awards to the Company’s employees, directors and consultants. The Board approved cancelling and converting all outstanding equity-awards granted under the pre-combination Velodyne’s stock plans into equity-based awards under the 2020 Plan effective upon the consummation of the Business Combination, based on exchange ratios established in the Merger Agreement with the same general terms and conditions corresponding to the original awards. The shares under the pre-combination Velodyne’s stock plans have been retroactively restated as shares reflecting the exchange ratio established in the Merger Agreement. The Company had an initial authorized reserve of 27,733,888 shares of its common stock for issuance under the 2020 Plan. Beginning on January 1, 2021, an additional number of shares will be reserved annually on the first day of each fiscal year for a period of no more than ten years in an amount equal to the least of (a) 5% of the total number of common shares actually issued and outstanding on the last day of the preceding fiscal year, (b) 10,000,000 common shares, or (c) a number of common shares determined by the Board. This limit is subject to adjustment in the event of a stock split, stock dividend or other change in the Company’s capitalization. The number of shares reserved was 46,606,012 and the remaining shares available for issuance under the 2020 Equity Plan was 10,320,465 as of June 30, 2022. The Company uses primarily the sell-to-cover method as the tax withholding method for stock awards upon settlement, pursuant to which shares with a market value equivalent to the tax withholding obligation are sold on behalf of the holder of the awards to cover the tax withholding liability and the cash proceeds from such sales are remitted by the Company to taxing authorities. 2020 Employee Stock Purchase Plan On September 29, 2020, the Company's stockholders approved the 2020 Employee Stock Purchase Plan (the “ESPP”). The Company had an initial authorized reserve of 3,492,097 shares of common stock for issuance under the ESPP. Beginning on January 1, 2021, an additional number of shares will be reserved annually on the first day of each fiscal year for a period of no more than 20 years in an amount equal to the least of (i) 1% of the outstanding shares of the Company’s common stock on such date, (ii) 2,500,000 shares of the Company’s common stock or (iii) a lesser amount determined by the Compensation Committee or the Board. As of June 30, 2022, 785,205 shares have been issued and 6,481,317 shares remained available for future issuance under the ESPP. The ESPP permits eligible employees to purchase shares of the Company’s common stock through payroll deductions at a price equal to 85% of the lower of the fair market value of the stock at the beginning or the end of the applicable purchase period, in an amount not to exceed 15% of their compensation, subject to individual purchase limits of 7,000 shares in any purchase period or $25,000 worth of stock, determined at the fair market value of the shares at the first day of an offering period, in any calendar year. Each offering period has a duration of twelve months beginning on either June 1 or December 1 and consists of two consecutive six-month purchase periods. The ESPP contains a reset provision whereby if the price of the Company’s common stock on the first day of a new offering period is less than the price on the first day of any preceding offering period, all participants in a preceding offering period with a higher first day price will be automatically withdrawn from such offering periods and re-enrolled in the new offering period. The reset feature, when triggered, will be accounted for as a modification to the original offering period, resulting in incremental expense to be recognized over the new offering period. 2020 Phantom Stock Incentive Plan In March 2021, the Board adopted the 2020 Phantom Stock Incentive Plan (the “2020 Phantom Stock Plan”), which provides for the granting of up to 7,635,000 phantom stock units to certain employees that settle, or are expected to settle, with cash payments upon vesting. Like equity-settled awards, phantom stock units are awarded with vesting conditions and are subject to certain forfeiture provisions prior to vesting. Phantom stock unit activity for the year ended June 30, 2022 was not significant. Stock Incentive Awards As of June 30, 2022, the Company’s outstanding incentive awards primarily included RSUs, RSAs, PRSU, performance RSAs “PRSAs” and phantom stock units under its stock incentive plans. The RSUs and RSAs typically vest on a quarterly basis over four years, or 25 percent upon the one-year anniversary date from initial vesting date, with the remainder vesting quarterly over the following three years. Certain RSUs also contain performance conditions related to the Company’s product development and business performance for the performance periods specified in the RSU agreements. In April 2022, the Company granted PRSAs that contain service, Company performance and market conditions to vest in the underlying common stock. The PRSAs vest on an annual basis over three years. The number of shares that vests is ultimately dependent on the Company’s operating results and value of the Company’s stock at the date specified in the PRSA agreements. A summary of the Company’s stock award activities during 2022 is as follows (in thousands except share and per share amount): Shares Weighted Average Grant Date Fair Value per Share Fair Value of RSU/RSA Released RSA: RSAs outstanding as of December 31, 2021 211,298 $6.63 Granted 1,392,254 $2.21 Released (61,708) $2.20 $103 Canceled (140,254) $2.20 RSAs outstanding as of June 30, 2022 1,401,590 $2.88 RSU: RSUs outstanding as of December 31, 2021 5,126,896 $10.51 Granted 8,020,089 $2.05 Released (1,114,087) $9.66 $2,810 Forfeited (1,773,344) $8.32 RSUs outstanding as of June 30, 2022 10,259,554 $4.37 PRSU: PRSUs outstanding as of December 31, 2021 330,505 $6.72 Released (330,505) $6.72 $1,292 PRSUs outstanding as of June 30, 2022 — PRSA: PRSAs outstanding as of December 31, 2021 — Granted 9,781,722 $2.12 Canceled (698,150) $2.20 PRSAs outstanding as of June 30, 2022 9,083,572 $2.12 Stock-Based Compensation Expense The Company measures stock-based compensation expenses based on grant date fair value of the stock awards. The Company recognizes stock-based compensation expenses for service-condition awards that are expected to vest on a straight-line basis over the requisite service period. For performance-based awards, expense is recognized using an accelerated attribution method from the time it is deemed probable that the performance goal will be achieved through the time the service-based condition has been achieved. The probability of restricted share awards granted with future performance conditions is evaluated at each reporting period and share awards are updated and compensation expense is adjusted based on updated information. The Company recognizes forfeitures as they occur. The following table presents stock-based compensation expense included in the Company’s consolidated statements of operations (in thousands): Three Months Ended June 30, Six Months Ended June 30, 2022 2021 2022 2021 Cost of revenue $ 759 $ 431 $ 1,280 $ 967 Research and development 2,831 2,754 5,187 7,664 Sales and marketing 988 41,616 1,859 43,602 General and administrative 1,733 8,404 2,920 12,502 Total stock-based compensation expense $ 6,311 $ 53,205 $ 11,246 $ 64,735 As of June 30, 2022, unrecognized compensation cost related to RSUs, RSAs, PRSAs and the ESPP was $39.2 million, $3.7 million, $7.5 million and $1.2 million, respectively, which is expected to be recognized over a weighted average period of 3.20 years, 3.65 years, 1.67 years and 0.58 years, respectively. Phantom stock units are recorded as a liability at their current market value and are included in other current liabilities. These grants remain subject to vesting 25% upon the one-year anniversary date from initial vesting date, with the remainder vesting quarterly over the following three years. Based on the trading price of the Company's common stock, the amount of liability recorded related to phantom stock units was not significant at June 30, 2022.

Net Loss Per Share

Net Loss Per Share	6 Months Ended
Net Loss Per Share	Jun. 30, 2022
Earnings Per Share [Abstract]
Net Loss Per Share	Net Loss Per Share Basic net income (loss) per share is computed based on the weighted average number of shares of common stock outstanding during the period. Diluted net income (loss) per share is computed based on the weighted average number of common shares outstanding plus the effect of dilutive potential common shares outstanding during the period using the treasury stock method. During the periods when there is a net loss, potentially dilutive common stock equivalents have been excluded from the calculation of diluted net loss per share as their effect is anti-dilutive. The Company follows the two-class method when computing net income (loss) per share when shares are issued that meet the definition of participating securities. The Company considers its the RSAs and PRSAs to be participating securities as holders of such securities have non-forfeitable dividend rights in the event of the declaration of a dividend for shares of common stock. During the periods when the Company is in a net loss position, the net loss attributable to common stockholders was not allocated to the RSAs and PRSAs under the two-class method as these securities do not have a contractual obligation to share in losses. The following common stock equivalents have also been excluded from the computation of diluted net loss per share for the periods presented because including them would have been antidilutive (in thousands): Three and Six Months Ended June 30, 2022 2021 Stock options 10 597 RSAs and PRSAs 10,485 — RSUs (non-vested) 10,010 6,060 Public warrant shares 4,480 4,483 Amazon warrant shares 39,644 — Total 64,629 11,140

Retirement Plan

Retirement Plan	6 Months Ended
Retirement Plan	Jun. 30, 2022
Retirement Benefits [Abstract]
Retirement Plan	Retirement PlanThe Company has a 401(k) savings and profit-sharing plan (the “401(k) Plan”), which is intended to be a tax-qualified defined contribution plan that covers all eligible employees, as defined in the applicable plan documents. Under the 401(k) Plan, eligible employees may elect salary deferral contributions, not to exceed limitations established annually by the Internal Revenue Service (“IRS”). The Company matches 25% of employees’ eligible contributions up to a maximum amount determined by the Company. The Company’s matching contributions vest 25% per year over the employee’s first four-year period of service. The Company’s matching contributions were $0.3 million and $0.6 million, respectively, for the three and six months ended June 30, 2022, and $0.3 million and $0.5 million, respectively, for the three and six months ended June 30, 2021.

Income Taxes

Income Taxes	6 Months Ended
Income Taxes	Jun. 30, 2022
Income Tax Disclosure [Abstract]
Income Taxes	Income Taxes The following table summarizes the Company's loss before income taxes and provision for income taxes (in thousands): Three Months Ended June 30, Six Months Ended June 30, 2022 2021 2022 2021 Loss before income taxes $ (44,440) $ (78,898) $ (93,114) $ (119,419) Provision for (benefit from) income taxes (141) 339 306 635 Effective tax rate 0.3 % (0.4) % (0.3) % (0.5) % The quarterly income tax provision reflects an estimate of the corresponding year’s annual effective tax rate and includes, when applicable, adjustments for discrete items. The tax provision for the periods presented primarily relates to income taxes of non-U.S. operations as the U.S. operations were in a loss position and the Company maintains a full valuation allowance against its U.S. deferred tax assets. The Company is subject to income taxes in the United States, China, Germany and India. The Company’s effective tax rate changed from (0.5)% in the six months ended June 30, 2021 to (0.3)% in the six months ended June 30, 2022. This change was primarily due to a combination of permanent tax items, mainly related to the valuation allowance recorded on U.S. deferred tax assets, foreign withholding taxes and state taxes.

Commitments and Contingencies

Commitments and Contingencies	6 Months Ended
Commitments and Contingencies	Jun. 30, 2022
Commitments and Contingencies Disclosure [Abstract]
Commitments and Contingencies	Commitments and Contingencies Purchase and Other Commitments The Company had a total of $29.1 million in purchase commitments as of June 30, 2022. Purchase commitments represent outstanding purchase orders or non-cancelable commitments for goods or services with contract manufacturers and vendors that range mostly from one month up to a year. The Company uses several contract manufacturers to manufacture components, subassemblies and products. The Company provides these contract manufacturers with demand information and they use this information to acquire components and build products. Contract manufacturer commitments consist of obligations for on-hand inventories and non-cancelable purchase orders with contract manufactures. If the Company cancels all or part of the orders, it may still be liable to the contract manufacturers for the cost of the materials and components purchased by the subcontractors to manufacture the Company’s products. The Company also obtains individual components for its products from a wide variety of individual suppliers. In addition, the Company had a total of $0.9 million in other contractual obligations for goods or services associated with its ordinary course of business as of June 30, 2022. Product Warranties The following table summarizes the activity related to product warranty liabilities and their balances as included in accrued expenses and other current liabilities (in thousands): Six Months Ended June 30, 2022 2021 Balance as of the beginning of the period $ 1,934 $ 2,204 Warranty provision 1,893 898 Consumption (541) (649) Changes in provision estimates (1,400) (1,300) Balance as of the end of the period $ 1,886 $ 1,153 Legal Proceedings From time to time, the Company is involved in actions, claims, suits and other proceedings in the ordinary course of business, including assertions by third parties relating to intellectual property infringement, breaches of contract or warranties or employment-related matters. The Company is defending all current litigation matters. Although there can be no assurances and the outcome of these matters is currently not determinable (except as specifically described below), the Company currently believes that none of these claims or proceedings are likely to have a material adverse effect on the Company’s financial position. Ouster Litigation On June 15, 2022, the Company filed complaint with the U.S. International Trade Commission (“ITC”) against Ouster, Inc. and its contract manufacturer, and a lawsuit in the Northern District of California. The complaint and lawsuit each allege infringement of U.S. Patent Nos. 7,969,558 (the “‘558 patent”) and 9,983,297 and respectively seek relief including an exclusion importation of infringing Ouster products and monetary damages. On July 22, 2022, the ITC instituted a formal investigation into the Company’s claims. On July 8, 2022 Ouster filed a complaint in the Superior Court of California, Santa Clara County, against the Company and two employees of the Company, alleging trade secret misappropriation against all defendants, breach of contract against one of the individuals, violation of the unfair business practices act against the Company, and violation of false advertising laws against the Company. The Company intends to defend this action vigorously. Arbitration Proceeding Against David Hall On June 9, 2021, the Company initiated an arbitration proceeding against David Hall, alleging breach of contract and misappropriation of the Company’s confidential, proprietary, and trade secret information. To protect its intellectual property and in aid of the arbitration process, on July 2, 2021 the Company filed an application with the Santa Clara County Superior Court for a temporary restraining order and preliminary injunction to prohibit Mr. Hall from any further copying, disclosure or use of the Company’s intellectual property and to require him to return all such property to the Company. On September 7, 2021, the arbitrator issued a preliminary injunction against Mr. Hall, ordering that: 1) Mr. Hall is enjoined from retrieving or accessing three devices to which he copied Velodyne materials and must transfer those devices to a discovery special master, who will review Mr. Hall’s retention and usage of Velodyne information and prepare reports on such retention and use; 2) Mr. Hall must provide an under-oath inventory of any and all of his personal electronic devices in his possession or control upon which Velodyne information currently resides and, upon Velodyne’s request, must provide Velodyne with access to those devices upon request to retrieve, destroy, or ensure the permanent deletion of Velodyne information from those devices; 3) Mr. Hall is enjoined from using anything he created or worked on for Velodyne during the time of his employment; and 4) In light of the preliminary injunctive relief granted under its breach of contract claim, Velodyne’s requests for relief under the California Uniform Trade Secrets Act and for a deposition were denied at this juncture, but the arbitrator expressly held that Velodyne could reinstate those demands following the special master’s report on Mr. Hall’s retention and usage of Velodyne’s materials. Mr. Hall subsequently provided an under-oath inventory pursuant to that order, which identified seventy-one personal devices that may contain Velodyne information. Because Mr. Hall did not consent to the special master conditionally appointed by the arbitrator, Velodyne and Mr. Hall are negotiating on protocol by which to preliminarily review and inspect those personal devices. On October 26, 2021, Mr. Hall filed a motion for a protective order seeking to require the Company to segregate and return his allegedly personal, private, privileged, and confidential information from his Company-issued laptop. On November 30, 2021, the judge denied Mr. Hall’s protective order, noting that Mr. Hall has no expectation of privacy as to the contents of his laptop and that he waived his right to assert privileged over the contents of the laptop. In the same ruling, the judge compelled Mr. Hall to respond to interrogatories issued by Velodyne . On December 16, 2021, the judge ruled that Velodyne sufficiently identified 2,740 allegedly-misappropriated trade secrets. On February 17, 2022, the judge imposed sanctions on Mr. Hall for discovery abuse, and ordered Mr. Hall to pay Velodyne $5,000 as sanctions. The parties have a mediation scheduled for August 30, 2022. Discrimination Proceedings by Marta Hall On August 2, 2021, the Company received a Charge of Discrimination dated July 27, 2021 (“Charge”), indicating that former Chief Marketing Officer, Marta Hall, has filed a charge of employment discrimination under Title VII of the Civil Rights Act, alleging sexual discrimination and retaliation. On February 15, 2022, the Equal Employment Opportunity Commission (EEOC) issued a determination that it will not proceed with an investigation of Ms. Hall’s claim. On September 27, 2021, the Occupational Safety and Health Administration (“OSHA”) informed the Company that it dismissed a complaint brought by Ms. Hall alleging retaliation in violation of the Sarbanes-Oxley Act (“SOX”). OSHA found that Ms. Hall failed to show that she engaged in a protected activity under SOX. On October 21, 2021, Ms. Hall submitted an objection to the findings and requested a hearing before an administrative law judge. The Company intends to defend the actions vigorously. Hall Proceeding Against Individuals On January 18, 2022, David Hall and Marta Hall filed a complaint against various current and former officers and directors of Velodyne and other individuals in the Superior Court of California, Alameda County, entitled Hall v. Vetter, No. 22-cv-005713. The complaint alleges conspiracy to defraud, breach of fiduciary duty, aiding and abetting breach of fiduciary duty, intentional misrepresentation, negligent misrepresentation, and securities fraud. The complaint alleges David and Marta Hall have suffered damages and seeks, among other things, compensatory and punitive damages. On May 3, 2022, certain defendants filed motions to compel arbitration and other defendants filed motions to quash service of process for lack of personal jurisdiction. The court conducted a hearing on the motions on July 20, 2022. The Company intends to defend the action vigorously. Quanergy Litigation In September 2016, Quanergy Systems, Inc. (“Quanergy”) filed a complaint against the Company and one of its customers in the Northern District of California (the District Court litigation), seeking a declaratory judgment of non-infringement of one of the ‘558 patent and asserting state and federal trade secret misappropriation claims against the Company and its customer and breach of contract and constructive fraud claims against its customer. In November 2016, Quanergy filed an amended complaint, removing its trade secret misappropriation claims against the Company, dropping its customer from the suit and dropping the related claims of breach and constructive fraud. The amended complaint maintained only the declaratory judgment of non-infringement action against the Company. In December 2016, the Company filed an answer generally denying the allegations and relief requested in Quanergy’s amended complaint. The Company’s answer also included counterclaims against Quanergy asserting direct, indirect, and willful infringement of the ‘558 patent. In January 2017, Quanergy filed an answer generally denying the allegations in the Company’s patent infringement counterclaims and requesting relief. The court held a claim construction hearing on September 13, 2017 and issued a claim construction order on October 4, 2017, which adopted the majority of the Company’s proposed constructions. In June 2018, the district court entered an order granting a joint stipulation to stay the litigation. Quanergy filed two petitions for inter partes review with the U.S. Patent Office’s Patent Trials and Appeal Board (“PTAB”) in November 2017, challenging all claims of the ‘558 patent that the Company asserted. The Company filed its Patent Owner Preliminary Response to Quanergy’s petitions on March 7, 2018. The PTAB issued an institution decision on May 25, 2018, instituting review of all challenged claims. The Company subsequently filed its Patent Owner Response and a Contingent Motion to amend the claims. The PTAB held oral argument on February 27, 2019. On May 23, 2019, the PTAB issued a Final Written Decision upholding the validity of all the challenged claims, finding that Quanergy did not prove by a preponderance of the evidence that any of the challenged claims of the ‘558 patent were unpatentable, and denying the Company’s contingent motion as moot. In June 2019, Quanergy filed a request for rehearing. On July 21, 2020, Quanergy filed a Notice of Appeal, appealing the PTAB decision to the U.S. Court of Appeals for the Federal Circuit. Quanergy’s opening appeal brief was filed on January 22, 2021. On February 4, 2022, the Federal Circuit of Appeals issued a ruling upholding the validity of the Company’s ‘558 patent. In view of that ruling, on February 18, 2022, the district court lifted the stay. On April 18, 2022, the district court issued a scheduling order for the remainder of the proceedings. Employment Matters On June 8, 2020, a former employee filed a class action lawsuit in the Santa Clara County Superior Court of the State of California. The complaint alleges that, among other things, the Company failed to pay minimum and overtime wages, final wages at termination, and other claims based on meal periods and rest breaks. The plaintiff is bringing this lawsuit on behalf of herself and other similarly situated plaintiffs who have not been identified and is seeking to certify the action as a class action. The plaintiff has now filed a First Amended Complaint that adds a claim pursuant to California’s Private Attorneys General Act. The First Amended Complaint does not specify the amount the plaintiff seeks to recover. Velodyne’s response to the First Amended Complaint was filed on November 16, 2020 and the parties are in the process of beginning discovery concerning class certification issues. On August 5, 2021, the parties reached a tentative settlement, subject to court approval, whereby the Company will pay $0.8 million. Securities Litigation Matters On March 3, 2021, a purported shareholder of Velodyne filed a complaint for a putative class action against Velodyne, Anand Gopalan and Andrew Hamer in the United States District Court, Northern District of California, entitled Moradpour v. Velodyne Lidar, Inc., et al., No. 3:21-cv-01486-SI. The complaint alleged purported violations of the federal securities laws and that, among other things, the defendants made materially false and/or misleading statements and failed to disclose material facts about the Company’s business, operations and prospects, including with respect to David Hall’s role with the Company and removal as Chairman of the Company’s Board of Directors. The complaint alleged that purported class members have suffered losses and sought, among other things, an award of compensatory damages on behalf of a putative class of persons who purchased or otherwise acquired the Company’s securities between November 9, 2020 and February 19, 2021. On March 12, 2021, a putative class action entitled Reese v. Velodyne Lidar, Inc., et al., No. 3:21-cv-01736-VC, was filed against the Company, Mr. Gopalan and Mr. Hamer in the United States District Court for the Northern District of California, based on allegations similar to those in the earlier class action and seeking recovery on behalf of the same putative class. On March 19, 2021, another putative class action entitled Nick v. Velodyne Lidar, Inc., et al., No. 4:21-cv-01950-JST, was filed in the United States District Court for the Northern District of California, against the Company, Mr. Gopalan, Mr. Hamer, two current or former directors, and three other entities. The complaint alleged purported violations of the federal securities laws and that, among other things, the defendants made materially false and/or misleading statements and failed to disclose material facts about the Company’s business, operations, controls and prospects and sought, among other things, an award of compensatory damages on behalf of a putative class of persons who purchased or otherwise acquired the Company’s securities between July 2, 2020 and March 17, 2021. The class actions have been consolidated, lead plaintiffs have been appointed and an amended consolidated complaint was filed on September 1, 2021, based on allegations similar to those in the earlier class actions. The Company filed a motion to dismiss the amended and consolidated complaint on November 1, 2021. The plaintiffs filed a first amended complaint on February 11, 2022. The Company filed a motion to dismiss on March 4, 2022. On July 1, 2022, the court denied the motion to dismiss as it relates to the claims related to David Hall’s role with the Company, but granted the motion to dismiss as to all other claims. The Company intends to defend the actions vigorously. On March 12, 2021, a putative shareholder derivative lawsuit entitled D’Arcy v. Gopalan, et al., No. 1:21-cv-00369-MN, was filed in the United States District Court for the District of Delaware against current and former directors and/or officers Anand Gopalan, Andrew Hamer, David S. Hall, Marta Thoma Hall, Joseph B. Culkin, Michael E. Dee, James A. Graf, Barbara Samardzich, and Christopher A. Thomas, and names the Company as a nominal defendant. The complaint asserted claims for breach of fiduciary duty, unjust enrichment, abuse of control, gross mismanagement, and waste of corporate assets against all of the individual defendants, and asserted a contribution claim under the federal securities laws against Mr. Gopalan and Mr. Hamer. On March 16, 2021, a second shareholder derivative lawsuit entitled Kondner, et al. v. Culkin, et al., No. 1:21-cv-00391-MN, was filed in the United States District Court for the District of Delaware against most of the same defendants named in the earlier derivative complaint, and asserted claims against the individual defendants for alleged breaches of fiduciary duty and waste of corporate assets. Both derivative actions are based on allegations similar to those in the class actions discussed above, and have now been consolidated. On January 3, 2022, the plaintiffs filed an amended complaint. Contingency Assessment

Segment, Geographic and Custome

Segment, Geographic and Customer Concentration Information	6 Months Ended
Segment, Geographic and Customer Concentration Information	Jun. 30, 2022
Segment Reporting [Abstract]
Segment, Geographic and Customer Concentration Information	Segment, Geographic and Customer Concentration Information The Company conducts its business in one operating segment that develops and produces Lidar sensors for use in industrial, 3D mapping, drones and auto applications. The Company’s Chief Executive Officer (“CEO”) is the chief operating decision maker (“CODM”). The CODM allocates resources and makes operating decisions based on financial information presented on a consolidated basis, accompanied by disaggregated information about sales and gross margin by product group. The profitability of the Company’s product group is not a determining factor in allocating resources and the CODM does not evaluate profitability below the level of the consolidated company. The Company reports revenue by region and country based on the location where its customers accept delivery of its products and services. Revenue by country and number of customers that accounted for more than 10% of revenue was as follows: Three Months Ended June 30, Six Months Ended June 30, 2022 2021 2022 2021 Countries over 10% of revenue: U.S. 33 % 37 % 14 % 31 % China 15 % 24 % 21 % 36 % Sweden 12 % 15 % 16 % 14 % Germany 12 % * * * * * Number of customers that accounted for over 10% of revenue: 2 1 5 2 * Less than 10%. For the three and six months ended June 30, 2022, revenue in the U.S. included a reduction to product revenues of $0.9 million and $6.2 million, respectively, in respect of the Amazon Warrant. Refer to Note 9 for more information. The Company’s long-lived assets, consisting primarily of property, plant and equipment, were primarily located in the United States and, to a lesser extent, Thailand as of June 30, 2022 and December 31, 2021.

Related Party Transactions

Related Party Transactions	6 Months Ended
Related Party Transactions	Jun. 30, 2022
Related Party Transactions [Abstract]
Related Party Transactions	Related Party Transactions Certain holders of the pre-combination Velodyne's convertible preferred stock (which converted into common stock of the Company upon the Business Combination) purchased products and services, directly or through a third party, from the Company. Revenue and accounts receivable for a stockholder who owned over 5% of the Company’s common stock as of June 30, 2022 and December 31, 2021 were as follows (in thousands): Three Months Ended June 30, Six Months Ended June 30, 2022 2021 2022 2021 Revenue: Stockholder A $ — $ 44 $ 295 $ 83 June 30, December 31, 2022 2021 Accounts receivable: Stockholder A $ 531 $ 219

Description of Business and S_2

Description of Business and Summary of Significant Accounting Policies (Policies)	6 Months Ended
	Jun. 30, 2022
Accounting Policies [Abstract]
Basis of Presentation	The consolidated financial statements are prepared in accordance with accounting principles generally accepted in the United States of America (“U.S. GAAP”). The consolidated financial statements include the accounts of the Company’s wholly owned subsidiaries. All intercompany balances and transactions have been eliminated in consolidation.
Reclassification	Certain prior year amounts have been reclassified for consistency with the current year presentation. Specifically, operating lease ROU assets, current and non-current lease liabilities and non-current contract liabilities are now presented as separate line items on the consolidated balance sheets and were previously included within other assets, current liabilities and other long-term liabilities, respectively. In addition, operating lease liabilities are now presented as separate line items on the consolidated statements of cash flows and were previously included within accrued and other liabilities.
Concentration of Risk	Financial instruments that subject the Company to concentrations of credit risk consist primarily of cash and cash equivalents, short-term investments, and accounts receivable. The Company maintains its cash and cash equivalents, and short-term investments with high-quality financial institutes with investment-grade ratings. A majority of the cash balances are with U.S. banks and are insured to the extent defined by the Federal Deposit Insurance Corporation. The Company’s accounts receivable are derived from customers located both inside and outside the U.S. The Company mitigates its credit risks by performing ongoing credit evaluations of its customers’ financial conditions and requires customer advance payments in certain circumstances. The Company does not require collateral.
Use of Estimates	The preparation of consolidated financial statements in conformity with GAAP requires management to make estimates and assumptions that affect the reported amounts of assets and liabilities and disclosure of contingent assets and liabilities at the date of the consolidated financial statements and the reported amounts of revenues and expenses during the reporting period. Significant items subject to such estimates and assumptions include standalone selling price (“SSP”) for each distinct performance obligation in its customer contracts, total estimated future patents and their corresponding estimated development costs, total estimated costs and related progress towards complete satisfaction of performance obligation in certain services arrangements, allowances for doubtful accounts, inventory reserves, warranty reserves, valuation allowance for deferred tax assets, stock-based compensation, common stock warrant valuation, useful lives of property, plant, and equipment and intangible assets, assessment of the recoverability of long-lived assets, goodwill impairment, income tax uncertainties, and other loss contingencies. The Company bases its estimates on historical experience and also on assumptions that it believes are reasonable. Actual results could differ from those estimates, and such differences could be material to the Company’s consolidated financial condition and results of operations.
Amazon Warrant	The Amazon Warrant (as defined in Note 9) is accounted for as an equity instrument and measured in accordance with Accounting Standards Codification (“ASC”) 718, Compensation – Stock Compensation. To determine the fair value of the Amazon Warrant, the Company used the Black-Scholes option pricing model, which is based in part on assumptions that require management to use judgment. For awards granted to a customer, which are not in exchange for distinct goods or services, the fair value of the awards earned based on service or performance conditions is recorded as a reduction of the transaction price in accordance with ASC 606, Revenue from Contracts with Customers. Accordingly, w hen Amazon makes payments and vesting conditions become
Recently Accounting Pronouncements	Recently Issued Accounting Pronouncements In June 2016, the Financial Accounting Standards Board (“FASB”) issued Accounting Standards Update (“ASU”) 2016-13, Measurement of Credit Losses on Financial Instruments, which has subsequently been amended by ASU No. 2018-19, ASU No. 2019-04, ASU No. 2019-05, ASU No. 2019-11, ASU 2020-02 and ASU 2020-03 to provide additional guidance on the credit losses standard. The objective of the guidance in ASU 2016-13 is to allow entities to recognize estimated credit losses in the period that the change in valuation occurs. ASU 2016-13 requires an entity to present financial assets measured on an amortized cost basis on the balance sheet, net of an allowance for credit losses. Available for sale and held to maturity debt securities are also required to be held net of an allowance for credit losses. For smaller reporting companies, the standard is effective for fiscal years beginning after December 15, 2022, including interim periods within those fiscal years. Early adoption is permitted. The Company will adopt the new standard in the first quarter of 2023 and is currently evaluating the impact this standard will have on its consolidated financial statements and related footnote disclosures. Recently Adopted Accounting Pronouncements In October 2020, the FASB issued ASU 2020-10, Codification Improvements, which updates various codification topics by clarifying or improving disclosure requirements to align with the SEC’s regulations. ASU 2020-10 is effective for public companies, other than smaller reporting companies, for fiscal years beginning after December 15, 2020. For all other entities, ASU 2020-10 is effective for fiscal years beginning after December 15, 2021, and interim periods beginning after December 15, 2022. The Company adopted ASU 2020-10 on January 1, 2022. The adoption of this new standard did not have a significant impact on the Company’s consolidated financial statements and related footnote disclosures.
Fair Value Measurement	The Company categorizes assets and liabilities recorded at fair value on the consolidated balance sheet based on the level of judgment associated with inputs used to measure their fair value. For assets and liabilities measured at fair value, fair value is the price that would be received from selling an asset or paid to transfer a liability in an orderly transaction between market participants at the measurement date. When determining fair value, the Company considers the principal or most advantageous market in which the Company would transact, and the Company considers assumptions that market participants would use when pricing the asset or liability. The three levels of inputs that may be used to measure fair value are: • Level 1 — Quoted prices in active markets for identical assets or liabilities. • Level 2 — Observable inputs other than Level 1 prices, such as quoted prices for similar assets and liabilities in active markets or quoted prices in less active market. All significant inputs used in the valuations are observable or can be directly or indirectly through market corroboration, for substantially the full term of the assets or liabilities. • Level 3 — Unobservable inputs are based on assumptions used to measure assets and liabilities at fair value. The inputs require significant management judgment or estimation. The Company monitors and review the inputs to ensure the fair value measurements are reasonable and consistent with market experience in similar asset classes.
Net Loss Per Share	Basic net income (loss) per share is computed based on the weighted average number of shares of common stock outstanding during the period. Diluted net income (loss) per share is computed based on the weighted average number of common shares outstanding plus the effect of dilutive potential common shares outstanding during the period using the treasury stock method. During the periods when there is a net loss, potentially dilutive common stock equivalents have been excluded from the calculation of diluted net loss per share as their effect is anti-dilutive. The Company follows the two-class method when computing net income (loss) per share when shares are issued that meet the definition of participating securities. The Company considers its the RSAs and PRSAs to be participating securities as holders of such securities have non-forfeitable dividend rights in the event of the declaration of a dividend for shares of common stock. During the periods when the Company is in a net loss position, the net loss attributable to common stockholders was not allocated to the RSAs and PRSAs under the two-class method as these securities do not have a contractual obligation to share in losses.

Description of Business and S_3

Description of Business and Summary of Significant Accounting Policies (Tables)	6 Months Ended
	Jun. 30, 2022
Accounting Policies [Abstract]
Schedules of Concentration of Risk Related to Accounts Receivable and Accounts Payable	The Company’s concentration of risk related to accounts receivable and accounts payable was as follows: June 30, December 31, 2022 2021 Customers accounted for 10% or more of accounts receivable: Customer A 22 % * Customer B 11 % * Customer C 11 % 16 % Customer D * 14 % Customer E * 11 % Vendors accounted for 10% or more of accounts payable: Vendor A 45 % 28 % Vendor B 11 % * * Less than 10%. Three Months Ended June 30, Six Months Ended June 30, 2022 2021 2022 2021 Countries over 10% of revenue: U.S. 33 % 37 % 14 % 31 % China 15 % 24 % 21 % 36 % Sweden 12 % 15 % 16 % 14 % Germany 12 % * * * * * Number of customers that accounted for over 10% of revenue: 2 1 5 2 * Less than 10%.

Revenue (Tables)

Revenue (Tables)	6 Months Ended
Revenue (Tables)	Jun. 30, 2022
Revenue from Contract with Customer [Abstract]
Disaggregation of Revenues	Total revenue based on the disaggregation criteria described above is as follows (dollar in thousands, percentage may not foot due to rounding difference): Three Months Ended June, 30, 2022 June, 30, 2021 Revenue % of Revenue Revenue % of Revenue Revenue by geography: North America (1) $ 4,292 37 % $ 5,271 38 % Asia Pacific (2) 3,645 32 % 5,255 39 % Europe, Middle East and Africa 3,570 31 % 3,070 23 % Total $ 11,507 100 % $ 13,596 100 % Revenue by products and services: Products (1) $ 9,652 84 % $ 11,970 88 % License and services (2) 1,855 16 % 1,626 12 % Total $ 11,507 100 % $ 13,596 100 % Revenue by timing of recognition: Goods transferred at a point in time (1) $ 10,075 88 % $ 12,272 90 % Goods and services transferred over time (2) 1,432 12 % 1,324 10 % Total $ 11,507 100 % $ 13,596 100 % Six Months Ended June, 30, 2022 June, 30, 2021 Revenue % of Revenue Revenue % of Revenue Revenue by geography: North America (1) $ 2,988 17 % $ 10,315 33 % Asia Pacific (2) 8,551 48 % 14,761 47 % Europe, Middle East and Africa 6,148 35 % 6,246 20 % Total $ 17,687 100 % $ 31,322 100 % Revenue by products and services: Products (1) $ 14,014 79 % $ 22,563 72 % License and services (2) 3,673 21 % 8,759 28 % Total $ 17,687 100 % $ 31,322 100 % Revenue by timing of recognition: Goods transferred at a point in time (1) $ 14,833 84 % $ 28,942 92 % Goods and services transferred over time (2) 2,854 16 % 2,380 8 % Total $ 17,687 100 % $ 31,322 100 % (1) Includes a non-cash stock-based reduction of revenue of $0.9 million and $6.2 million, respectively, for the three and six months ended June 30 2022 associated with the Amazon Warrant agreement entered into in February 2022. See Note 9 for more information. (2) Includes license revenue of $0.9 million and $1.9 million, respectively, related to patent cross-license agreements for the three and six months ended June 30, 2022, and $0.9 million and $7.3 million, respectively, for the three and six months ended June 30, 2021. In June 2020, the Company entered into a patent cross-license agreement related to its litigation settlement with a customer in Asia Pacific. Under the terms of the arrangement, the customer agreed to make a one-time license payment upon settlement, will make annual fixed royalty payments through 2024, and thereafter, will make product sales royalty payments through February 2030. In
Contract Assets and Contract Liabilities	Contract assets and contract liabilities consisted of the following as of June 30, 2022 and December 31, 2021 (in thousands): June 30, December 31, 2022 2021 Contract assets, current Unbilled accounts receivable $ 3,830 $ 3,313 Contract assets, long-term Unbilled accounts receivable 9,182 12,962 Total contract assets $ 13,012 $ 16,275 Contract liabilities, current Deferred revenue, current $ 5,278 $ 6,209 Customer advance payment 69 139 Total 5,347 6,348 Contract liabilities, long-term Deferred revenue, long-term 10,740 12,740 Total contract liabilities $ 16,087 $ 19,088 The following table shows the significant changes in contract assets and contract liabilities balances (in thousands): Six Months Ended June 30, 2022 2021 Contract assets: Beginning balance $ 16,275 $ 11,253 Transferred to receivables from contract assets recognized at the beginning of the period (3,313) (2,813) Increase due to unbilled and recognized as revenue in excess of billings during the period, net of amounts transferred to receivables 50 5,251 Ending balance $ 13,012 $ 13,691 Contract liabilities: Beginning balance $ 19,088 $ 22,055 Revenue recognized that was included in the contract liabilities beginning balance (4,120) (5,972) Increase due to cash received and not recognized as revenue and billings in excess of revenue recognized during the period 1,119 6,236 Ending balance $ 16,087 $ 22,319

Fair Value Measurement (Tables)

Fair Value Measurement (Tables)	6 Months Ended
Fair Value Measurement (Tables)	Jun. 30, 2022
Fair Value Disclosures [Abstract]
Summary of Assets Measured at Fair Value on a Recurring Basis	The following table summarize the Company’s assets measured at fair value on a recurring basis, by level, within the fair value hierarchy (in thousands): June 30, 2022 Level 1 Level 2 Level 3 Total Cash equivalents: Money market fund $ 60,008 $ — $ — $ 60,008 Total cash equivalents 60,008 — — 60,008 Short-term investments: Money market fund 7 — — 7 Commercial paper — 74,300 — 74,300 Corporate debt securities — 77,878 — 77,878 Total short-term investments 7 152,178 — 152,185 Total assets measured at fair value $ 60,015 $ 152,178 $ — $ 212,193 December 31, 2021 Level 1 Level 2 Level 3 Total Cash equivalents: Money market fund $ 391 $ — $ — $ 391 Total cash equivalents 391 — — 391 Short-term investments: Money market fund 7 — — 7 Commercial paper — 130,983 — 130,983 Corporate debt securities — 139,367 — 139,367 Total short-term investments 7 270,350 — 270,357 Total assets measured at fair value $ 398 $ 270,350 $ — $ 270,748

Balance Sheet Components (Table

Balance Sheet Components (Tables)	6 Months Ended
Balance Sheet Components (Tables)	Jun. 30, 2022
Organization, Consolidation and Presentation of Financial Statements [Abstract]
Accounts Receivable, Net	Accounts receivables, net consist of the following (in thousands): June 30, December 31, 2022 2021 Accounts receivable $ 10,292 $ 12,088 Allowance for doubtful accounts (3,207) (3,207) Accounts receivable, net $ 7,085 $ 8,881
Inventories, Net of Reserve	Inventories, net of reserve, consist of the following (in thousands): June 30, December 31, 2022 2021 Raw materials $ 7,112 $ 6,585 Work-in-process 3,590 1,883 Finished goods 2,765 831 Total inventories $ 13,467 $ 9,299
Prepaid and Other Current Assets	Prepaid and other current assets consist of the following (in thousands): June 30, December 31, 2022 2021 Prepaid expenses and deposits $ 3,082 $ 7,883 Due from contract manufacturers and vendors 1,523 1,302 Prepaid taxes 289 1,223 Contract assets 3,830 3,313 Other 821 1,101 Total prepaid and other current assets $ 9,545 $ 14,822
Property, Plant and Equipment, Net	Property, plant and equipment, at cost, consist of the following (in thousands): June 30, December 31, 2022 2021 Machinery and equipment $ 38,791 $ 36,264 Leasehold improvements 6,990 6,752 Furniture and fixtures 1,498 1,497 Vehicles 359 359 Software 1,951 1,337 Assets under construction 1,480 1,900 51,069 48,109 Less: accumulated depreciation and amortization (37,466) (33,399) Property, plant and equipment, net $ 13,603 $ 14,710 Three Months Ended June 30, Six Months Ended June 30, 2022 2021 2022 2021 Depreciation and amortization on property, plant and equipment $ 2,068 $ 1,964 $ 4,086 $ 3,921
Intangible Assets, Net	Intangible assets, net, consist of the following (in thousands): Gross Carrying Amount Accumulated Amortization Net Book Value As of June 30, 2022: Developed technology $ 1,696 $ 1,248 $ 448 As of December 31, 2021: Developed technology $ 1,696 $ 972 $ 724
Amortization of Intangible Assets	Amortization of intangible assets is as follows (in thousands): Three Months Ended June 30, Six Months Ended June 30, 2022 2021 2022 2021 Amortization of intangible assets $ 122 $ 97 $ 276 $ 193
Other Assets, Non-Current	Other assets, non-current, consist of the following (in thousands): June 30, December 31, 2022 2021 Notes receivable 750 750 Deposits and other 807 772 Total other assets $ 1,557 $ 1,522
Accrued Expenses and Other Current Liabilities	Accrued expenses and other current liabilities consisted of the following (in thousands): June 30, December 31, 2022 2021 Accrued payroll expenses $ 9,790 $ 13,550 Accrued manufacturing costs 2,918 3,925 Accrued transaction costs 5,000 5,000 Accrued professional and consulting fees 5,353 3,411 Accrued warranty costs 1,886 1,934 Accrued taxes 913 1,017 Legal proceedings accrual 866 825 Other 1,407 3,366 Total accrued expense and other current liabilities $ 28,133 $ 33,028

Leases (Tables)

Leases (Tables)	6 Months Ended
Leases (Tables)	Jun. 30, 2022
Leases [Abstract]
Other Information Related to Leases	Other information related to leases were as follows: June 30, 2022 December 31, 2021 Weighted average remaining lease term (years) 5.31 5.91 Weighted average discount rate 6.53 % 6.37 %
Maturities of Operating Lease Liabilities	As of June 30, 2022, maturities of lease liabilities were as follows: Years Ending December 31, Operating Leases 2022 (remaining six months) $ 1,944 2023 3,793 2024 3,869 2025 3,701 2026 3,670 Thereafter 3,779 Total lease payments $ 20,756 Less amount representing interest (3,214) Present value of lease liabilities $ 17,542
Maturities of Finance Lease Liabilities	As of June 30, 2022, maturities of lease liabilities were as follows: Years Ending December 31, Operating Leases 2022 (remaining six months) $ 1,944 2023 3,793 2024 3,869 2025 3,701 2026 3,670 Thereafter 3,779 Total lease payments $ 20,756 Less amount representing interest (3,214) Present value of lease liabilities $ 17,542

Accumulated Other Comprehensi_2

Accumulated Other Comprehensive Loss (Tables)	6 Months Ended
Accumulated Other Comprehensive Loss (Tables)	Jun. 30, 2022
Equity [Abstract]
Composition of Accumulated Other Comprehensive Loss	Accumulated other comprehensive loss was comprised of the following (in thousands): June 30, December 31, 2022 2021 Foreign currency translation loss $ (276) $ (184) Unrealized loss on investments (927) (228) Total accumulated other comprehensive loss $ (1,203) $ (412)

Stockholders_ Equity (Tables)

Stockholders’ Equity (Tables)	6 Months Ended
Stockholders’ Equity (Tables)	Jun. 30, 2022
Equity [Abstract]
Summary of Common Stock Outstanding	The following summarizes the Company’s common stock outstanding as of June 30, 2022 and December 31, 2021: June 30, December 31, 2022 2021 Converted pre-combination Velodyne common stock outstanding 9,575,438 82,024,874 Converted pre-combination Velodyne preferred stock outstanding 24,772,759 24,772,759 Graf Founder shares 142,800 157,800 Other stockholders 181,671,713 90,391,242 Total common stock issued and outstanding 216,162,710 197,346,675
Summary of Common Stock Issuances Related to the Warrant Exercises	The following summarizes the Company’s outstanding warrants and common stock issuance related to the warrant exercises: June 30, December 31, 2022 2021 Warrants outstanding upon Closing 24,876,512 24,876,512 Warrants exercised to date 18,902,642 18,902,642 Warrants outstanding 5,973,870 5,973,870 Aggregated common shares issuable upon exercise of warrants 18,657,384 18,657,384 Common shares issued upon exercise of warrants 14,176,959 14,176,959 Remaining common shares issuable upon exercise of warrants 4,480,425 4,480,425
Summary of Information Related to the Amazon Warrant	The fair value of the Amazon Warrant shares was measured on the grant date using the Black-Scholes option pricing model with assumptions as follows: Six Months Ended June 30, 2022 Expected term, in years 6.00 Expected volatility 50.00% Risk-free interest rate 1.84% Expected dividend yield 0%

Stock-Based Compensation (Table

Stock-Based Compensation (Tables)	6 Months Ended
Stock-Based Compensation (Tables)	Jun. 30, 2022
Share-Based Payment Arrangement [Abstract]
Summary of RSU and RSA Activity under Equity Plans	A summary of the Company’s stock award activities during 2022 is as follows (in thousands except share and per share amount): Shares Weighted Average Grant Date Fair Value per Share Fair Value of RSU/RSA Released RSA: RSAs outstanding as of December 31, 2021 211,298 $6.63 Granted 1,392,254 $2.21 Released (61,708) $2.20 $103 Canceled (140,254) $2.20 RSAs outstanding as of June 30, 2022 1,401,590 $2.88 RSU: RSUs outstanding as of December 31, 2021 5,126,896 $10.51 Granted 8,020,089 $2.05 Released (1,114,087) $9.66 $2,810 Forfeited (1,773,344) $8.32 RSUs outstanding as of June 30, 2022 10,259,554 $4.37 PRSU: PRSUs outstanding as of December 31, 2021 330,505 $6.72 Released (330,505) $6.72 $1,292 PRSUs outstanding as of June 30, 2022 — PRSA: PRSAs outstanding as of December 31, 2021 — Granted 9,781,722 $2.12 Canceled (698,150) $2.20 PRSAs outstanding as of June 30, 2022 9,083,572 $2.12
Stock-Based Compensation Expense	The following table presents stock-based compensation expense included in the Company’s consolidated statements of operations (in thousands): Three Months Ended June 30, Six Months Ended June 30, 2022 2021 2022 2021 Cost of revenue $ 759 $ 431 $ 1,280 $ 967 Research and development 2,831 2,754 5,187 7,664 Sales and marketing 988 41,616 1,859 43,602 General and administrative 1,733 8,404 2,920 12,502 Total stock-based compensation expense $ 6,311 $ 53,205 $ 11,246 $ 64,735

Net Loss Per Share (Tables)

Net Loss Per Share (Tables)	6 Months Ended
Net Loss Per Share (Tables)	Jun. 30, 2022
Earnings Per Share [Abstract]
Common Stock Equivalents Excluded From the Computation of Diluted Net Income (Loss) Per Share	The following common stock equivalents have also been excluded from the computation of diluted net loss per share for the periods presented because including them would have been antidilutive (in thousands): Three and Six Months Ended June 30, 2022 2021 Stock options 10 597 RSAs and PRSAs 10,485 — RSUs (non-vested) 10,010 6,060 Public warrant shares 4,480 4,483 Amazon warrant shares 39,644 — Total 64,629 11,140

Income Taxes (Tables)

Income Taxes (Tables)	6 Months Ended
Income Taxes (Tables)	Jun. 30, 2022
Income Tax Disclosure [Abstract]
Summary of Loss Before Income Taxes and Provision For (Benefit From) Income Taxes	The following table summarizes the Company's loss before income taxes and provision for income taxes (in thousands): Three Months Ended June 30, Six Months Ended June 30, 2022 2021 2022 2021 Loss before income taxes $ (44,440) $ (78,898) $ (93,114) $ (119,419) Provision for (benefit from) income taxes (141) 339 306 635 Effective tax rate 0.3 % (0.4) % (0.3) % (0.5) %

Commitments and Contingencies (

Commitments and Contingencies (Tables)	6 Months Ended
Commitments and Contingencies (Tables)	Jun. 30, 2022
Commitments and Contingencies Disclosure [Abstract]
Changes in the Accrued Warranty Liability	The following table summarizes the activity related to product warranty liabilities and their balances as included in accrued expenses and other current liabilities (in thousands): Six Months Ended June 30, 2022 2021 Balance as of the beginning of the period $ 1,934 $ 2,204 Warranty provision 1,893 898 Consumption (541) (649) Changes in provision estimates (1,400) (1,300) Balance as of the end of the period $ 1,886 $ 1,153

Segment, Geographic and Custo_2

Segment, Geographic and Customer Concentration Information (Tables)	6 Months Ended
	Jun. 30, 2022
Segment Reporting [Abstract]
Revenue by Countries and Customers Accounted For More Than 10%	The Company’s concentration of risk related to accounts receivable and accounts payable was as follows: June 30, December 31, 2022 2021 Customers accounted for 10% or more of accounts receivable: Customer A 22 % * Customer B 11 % * Customer C 11 % 16 % Customer D * 14 % Customer E * 11 % Vendors accounted for 10% or more of accounts payable: Vendor A 45 % 28 % Vendor B 11 % * * Less than 10%. Three Months Ended June 30, Six Months Ended June 30, 2022 2021 2022 2021 Countries over 10% of revenue: U.S. 33 % 37 % 14 % 31 % China 15 % 24 % 21 % 36 % Sweden 12 % 15 % 16 % 14 % Germany 12 % * * * * * Number of customers that accounted for over 10% of revenue: 2 1 5 2 * Less than 10%.

Related Party Transactions (Tab

Related Party Transactions (Tables)	6 Months Ended
Related Party Transactions (Tables)	Jun. 30, 2022
Related Party Transactions [Abstract]
Revenue and Accounts Receivable for Related Parties	Revenue and accounts receivable for a stockholder who owned over 5% of the Company’s common stock as of June 30, 2022 and December 31, 2021 were as follows (in thousands): Three Months Ended June 30, Six Months Ended June 30, 2022 2021 2022 2021 Revenue: Stockholder A $ — $ 44 $ 295 $ 83 June 30, December 31, 2022 2021 Accounts receivable: Stockholder A $ 531 $ 219

Description of Business and S_4

Description of Business and Summary of Significant Accounting Policies - Narrative (Details) $ in Millions	6 Months Ended
	Jun. 30, 2022 USD ($) segment
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Number of operating segments \| segment	1
Cash and cash equivalents	$ 229.2
Revolving Credit Facility \| 2020 Revolving Line \| Line of Credit
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Available borrowing capacity	$ 4.2

Description of Business and S_5

Description of Business and Summary of Significant Accounting Policies - Schedules of Concentration of Risk Related to Accounts Receivable and Accounts Payable (Details)	6 Months Ended	12 Months Ended
	Jun. 30, 2022	Dec. 31, 2021
Accounts Receivable \| Customer Concentration Risk \| Customer A
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Concentration percentage	22%
Accounts Receivable \| Customer Concentration Risk \| Customer B
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Concentration percentage	11%
Accounts Receivable \| Customer Concentration Risk \| Customer C
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Concentration percentage	11%	16%
Accounts Receivable \| Customer Concentration Risk \| Customer D
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Concentration percentage		14%
Accounts Receivable \| Customer Concentration Risk \| Customer E
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Concentration percentage		11%
Accounts Payable \| Supplier Concentration Risk \| Vendor A
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Concentration percentage	45%	28%
Accounts Payable \| Supplier Concentration Risk \| Vendor B
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Concentration percentage	11%

Business Combination and Rela_2

Business Combination and Related Transactions (Details) - USD ($)	Sep. 29, 2020	Jun. 30, 2022	Dec. 31, 2021
Business Acquisition [Line Items]
Goodwill		$ 1,189,000	$ 1,189,000
Payments for repurchase of stock	$ 1,800,000
Repurchase of common stock (in shares)	175,744
Transaction cost	$ 29,100,000
Accrued transaction costs		$ 5,000,000	$ 5,000,000
Graf \| Pre-Combination Velodyne
Business Acquisition [Line Items]
Goodwill	0
Other intangible assets	0
Aggregate consideration transferred	1,800,000,000
Cash paid to acquire business	$ 222,100,000
Shares transferred in acquisition (in shares)	150,277,532
Share price (in USD per share)	$ 10.25
Value of shares transferred in acquisition	$ 1,500,000,000

Revenue - Disaggregation of Rev

Revenue - Disaggregation of Revenues (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021	Dec. 31, 2021	Dec. 31, 2020
Disaggregation of Revenue [Line Items]
Revenue	$ 11,507	$ 13,596	$ 17,687	$ 31,322
Reduction of revenue related to stock warrant issued to customer	900		6,245	0
Contract liabilities, current	5,347		5,347		$ 6,348
Contract liabilities, non-current	10,740		10,740		12,740
Contract asset	13,012	13,691	13,012	13,691	16,275	$ 11,253
Geographic Concentration Risk
Disaggregation of Revenue [Line Items]
Revenue	11,507	13,596	17,687	31,322
Product Concentration Risk
Disaggregation of Revenue [Line Items]
Revenue	11,507	13,596	17,687	31,322
Timing of Recognition Concentration Risk
Disaggregation of Revenue [Line Items]
Revenue	11,507	13,596	17,687	31,322
Timing of Recognition Concentration Risk \| Goods transferred at a point in time
Disaggregation of Revenue [Line Items]
Revenue	10,075	12,272	14,833	28,942
Timing of Recognition Concentration Risk \| Goods and services transferred over time
Disaggregation of Revenue [Line Items]
Revenue	$ 1,432	$ 1,324	$ 2,854	$ 2,380
Revenue \| Geographic Concentration Risk
Disaggregation of Revenue [Line Items]
Concentration percentage	100%	100%	100%	100%
Revenue \| Product Concentration Risk
Disaggregation of Revenue [Line Items]
Concentration percentage	100%	100%	100%	100%
Revenue \| Timing of Recognition Concentration Risk
Disaggregation of Revenue [Line Items]
Concentration percentage	100%	100%	100%	100%
Revenue \| Timing of Recognition Concentration Risk \| Goods transferred at a point in time
Disaggregation of Revenue [Line Items]
Concentration percentage	88%	90%	84%	92%
Revenue \| Timing of Recognition Concentration Risk \| Goods and services transferred over time
Disaggregation of Revenue [Line Items]
Concentration percentage	12%	10%	16%	8%
Products
Disaggregation of Revenue [Line Items]
Revenue	$ 9,652	$ 11,970	$ 14,014	$ 22,563
Products \| Product Concentration Risk
Disaggregation of Revenue [Line Items]
Revenue	$ 9,652	$ 11,970	$ 14,014	$ 22,563
Products \| Revenue \| Product Concentration Risk
Disaggregation of Revenue [Line Items]
Concentration percentage	84%	88%	79%	72%
License and services
Disaggregation of Revenue [Line Items]
Revenue	$ 1,855	$ 1,626	$ 3,673	$ 8,759
License and services \| Product Concentration Risk
Disaggregation of Revenue [Line Items]
Revenue	$ 1,855	$ 1,626	$ 3,673	$ 8,759
License and services \| Revenue \| Product Concentration Risk
Disaggregation of Revenue [Line Items]
Concentration percentage	16%	12%	21%	28%
License \| Customer in Asia Pacific in Patent Cross-License Agreement
Disaggregation of Revenue [Line Items]
Revenue	$ 900	$ 900	$ 1,900	$ 7,300
Contract liabilities, current	3,800		3,800		3,800
Contract liabilities, non-current	10,100		10,100		11,900
Contract asset	13,000		13,000		$ 16,300
North America \| Geographic Concentration Risk
Disaggregation of Revenue [Line Items]
Revenue	$ 4,292	$ 5,271	$ 2,988	$ 10,315
North America \| Revenue \| Geographic Concentration Risk
Disaggregation of Revenue [Line Items]
Concentration percentage	37%	38%	17%	33%
Asia Pacific \| Geographic Concentration Risk
Disaggregation of Revenue [Line Items]
Revenue	$ 3,645	$ 5,255	$ 8,551	$ 14,761
Asia Pacific \| Revenue \| Geographic Concentration Risk
Disaggregation of Revenue [Line Items]
Concentration percentage	32%	39%	48%	47%
Europe, Middle East and Africa \| Geographic Concentration Risk
Disaggregation of Revenue [Line Items]
Revenue	$ 3,570	$ 3,070	$ 6,148	$ 6,246
Europe, Middle East and Africa \| Revenue \| Geographic Concentration Risk
Disaggregation of Revenue [Line Items]
Concentration percentage	31%	23%	35%	20%

Revenue - Composition of Contra

Revenue - Composition of Contract Assets and Contract Liabilities (Details) - USD ($) $ in Thousands	Jun. 30, 2022	Dec. 31, 2021	Jun. 30, 2021	Dec. 31, 2020
Contract assets, current
Unbilled accounts receivable	$ 3,830	$ 3,313
Contract assets, long-term
Unbilled accounts receivable	9,182	12,962
Total contract assets	13,012	16,275	$ 13,691	$ 11,253
Contract liabilities, current
Deferred revenue, current	5,278	6,209
Customer advance payment	69	139
Total	5,347	6,348
Contract liabilities, long-term
Contract liabilities, non-current	10,740	12,740
Total contract liabilities	$ 16,087	$ 19,088	$ 22,319	$ 22,055

Revenue - Significant Changes i

Revenue - Significant Changes in Contract Assets and Contract Liabilities Balances (Details) - USD ($) $ in Thousands	6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021
Contract assets:
Beginning balance	$ 16,275	$ 11,253
Transferred to receivables from contract assets recognized at the beginning of the period	(3,313)	(2,813)
Increase due to unbilled and recognized as revenue in excess of billings during the period, net of amounts transferred to receivables	50	5,251
Ending balance	13,012	13,691
Contract liabilities:
Beginning balance	19,088	22,055
Revenue recognized that was included in the contract liabilities beginning balance	(4,120)	(5,972)
Increase due to cash received and not recognized as revenue and billings in excess of revenue recognized during the period	1,119	6,236
Ending balance	$ 16,087	$ 22,319

Fair Value Measurement (Details

Fair Value Measurement (Details) - Recurring - USD ($) $ in Thousands	Jun. 30, 2022	Dec. 31, 2021
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Cash equivalents	$ 60,008	$ 391
Short-term investments	152,185	270,357
Total assets measured at fair value	212,193	270,748
Level 1
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Cash equivalents	60,008	391
Short-term investments	7	7
Total assets measured at fair value	60,015	398
Level 2
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Cash equivalents	0	0
Short-term investments	152,178	270,350
Total assets measured at fair value	152,178	270,350
Level 3
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Cash equivalents	0	0
Short-term investments	0	0
Total assets measured at fair value	0	0
Money market fund
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Short-term investments	7	7
Money market fund \| Level 1
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Short-term investments	7	7
Money market fund \| Level 2
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Short-term investments	0	0
Money market fund \| Level 3
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Short-term investments	0	0
Commercial paper
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Short-term investments	74,300	130,983
Commercial paper \| Level 1
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Short-term investments	0	0
Commercial paper \| Level 2
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Short-term investments	74,300	130,983
Commercial paper \| Level 3
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Short-term investments	0	0
Corporate debt securities
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Short-term investments	77,878	139,367
Corporate debt securities \| Level 1
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Short-term investments	0	0
Corporate debt securities \| Level 2
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Short-term investments	77,878	139,367
Corporate debt securities \| Level 3
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Short-term investments	0	0
Money market fund
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Cash equivalents	60,008	391
Money market fund \| Level 1
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Cash equivalents	60,008	391
Money market fund \| Level 2
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Cash equivalents	0	0
Money market fund \| Level 3
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Cash equivalents	$ 0	$ 0

Balance Sheet Components - Acco

Balance Sheet Components - Accounts Receivable, Net (Details) - USD ($) $ in Thousands	Jun. 30, 2022	Dec. 31, 2021
Organization, Consolidation and Presentation of Financial Statements [Abstract]
Accounts receivable	$ 10,292	$ 12,088
Allowance for doubtful accounts	(3,207)	(3,207)
Accounts receivable, net	$ 7,085	$ 8,881

Balance Sheet Components - Inve

Balance Sheet Components - Inventories, Net of Reserve (Details) - USD ($) $ in Thousands	Jun. 30, 2022	Dec. 31, 2021
Organization, Consolidation and Presentation of Financial Statements [Abstract]
Raw materials	$ 7,112	$ 6,585
Work-in-process	3,590	1,883
Finished goods	2,765	831
Total inventories	$ 13,467	$ 9,299

Balance Sheet Components - Narr

Balance Sheet Components - Narrative (Details) - USD ($)	Jun. 30, 2022	Dec. 31, 2021	May 31, 2021
Accounts, Notes, Loans and Financing Receivable [Line Items]
Gross consigned inventory	$ 2,500,000	$ 1,500,000
Notes Receivable
Accounts, Notes, Loans and Financing Receivable [Line Items]
Financing receivable			$ 750,000
Financing receivable, interest rate			0%

Balance Sheet Components - Prep

Balance Sheet Components - Prepaid and Other Current Assets (Details) - USD ($) $ in Thousands	Jun. 30, 2022	Dec. 31, 2021
Organization, Consolidation and Presentation of Financial Statements [Abstract]
Prepaid expenses and deposits	$ 3,082	$ 7,883
Due from contract manufacturers and vendors	1,523	1,302
Prepaid taxes	289	1,223
Contract assets	3,830	3,313
Other	821	1,101
Total prepaid and other current assets	$ 9,545	$ 14,822

Balance Sheet Components - Prop

Balance Sheet Components - Property, Plant and Equipment, Net (Details) - USD ($) $ in Thousands	Jun. 30, 2022	Dec. 31, 2021
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	$ 51,069	$ 48,109
Less: accumulated depreciation and amortization	(37,466)	(33,399)
Property, plant and equipment, net	13,603	14,710
Machinery and equipment
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	38,791	36,264
Leasehold improvements
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	6,990	6,752
Furniture and fixtures
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	1,498	1,497
Vehicles
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	359	359
Software
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	1,951	1,337
Assets under construction
Property, Plant and Equipment [Line Items]
Property, plant and equipment, gross	$ 1,480	$ 1,900

Balance Sheet Components - Aggr

Balance Sheet Components - Aggregate Depreciation and Amortization Related to Property, Plant and Equipment (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Organization, Consolidation and Presentation of Financial Statements [Abstract]
Depreciation and amortization on property, plant and equipment	$ 2,068	$ 1,964	$ 4,086	$ 3,921

Balance Sheet Components - Inta

Balance Sheet Components - Intangible Assets, Net (Details) - Developed technology - USD ($) $ in Thousands	Jun. 30, 2022	Dec. 31, 2021
Finite-Lived Intangible Assets [Line Items]
Gross Carrying Amount	$ 1,696	$ 1,696
Accumulated Amortization	1,248	972
Net Book Value	$ 448	$ 724

Balance Sheet Components - Amor

Balance Sheet Components - Amortization of Intangible Assets (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Organization, Consolidation and Presentation of Financial Statements [Abstract]
Amortization of intangible assets	$ 122	$ 97	$ 276	$ 193

Balance Sheet Components - Othe

Balance Sheet Components - Other Assets, Non-Current (Details) - USD ($) $ in Thousands	Jun. 30, 2022	Dec. 31, 2021
Organization, Consolidation and Presentation of Financial Statements [Abstract]
Notes receivable	$ 750	$ 750
Deposits and other	807	772
Other assets	$ 1,557	$ 1,522

Balance Sheet Components - Accr

Balance Sheet Components - Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Jun. 30, 2022	Dec. 31, 2021
Organization, Consolidation and Presentation of Financial Statements [Abstract]
Accrued payroll expenses	$ 9,790	$ 13,550
Accrued manufacturing costs	2,918	3,925
Accrued transaction costs	5,000	5,000
Accrued professional and consulting fees	5,353	3,411
Accrued warranty costs	1,886	1,934
Accrued taxes	913	1,017
Legal proceedings accrual	866	825
Other	1,407	3,366
Accrued expense and other current liabilities	$ 28,133	$ 33,028

Leases - Narrative (Details)

Leases - Narrative (Details) - USD ($) $ in Millions	3 Months Ended		6 Months Ended
Leases - Narrative (Details) - USD ($) $ in Millions	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Leases [Abstract]
Lease cost	$ 1	$ 1.1	$ 2	$ 2.2

Leases - Other Information Rela

Leases - Other Information Related to Leases (Details)	Jun. 30, 2022	Dec. 31, 2021
Leases [Abstract]
Weighted average remaining lease term (years)	5 years 3 months 21 days	5 years 10 months 28 days
Weighted average discount rate	6.53%	6.37%

Leases - Maturities of Lease Li

Leases - Maturities of Lease Liabilities (Details) $ in Thousands	Jun. 30, 2022 USD ($)
Operating Leases
2022 (remaining six months)	$ 1,944
2023	3,793
2024	3,869
2025	3,701
2026	3,670
Thereafter	3,779
Total lease payments	20,756
Less amount representing interest	(3,214)
Total lease liabilities	$ 17,542

Accumulated Other Comprehensi_3

Accumulated Other Comprehensive Loss - Composition of Accumulated Other Comprehensive Loss (Details) - USD ($) $ in Thousands	Jun. 30, 2022	Mar. 31, 2022	Dec. 31, 2021	Jun. 30, 2021	Mar. 31, 2021	Dec. 31, 2020
Accumulated Other Comprehensive Income (Loss) [Line Items]
Stockholders' equity	$ 230,198	$ 259,654	$ 299,263	$ 365,693	$ 391,677	$ 340,823
Accumulated other comprehensive loss
Accumulated Other Comprehensive Income (Loss) [Line Items]
Stockholders' equity	(1,203)		(412)
Foreign currency translation loss
Accumulated Other Comprehensive Income (Loss) [Line Items]
Stockholders' equity	(276)		(184)
Unrealized loss on investments
Accumulated Other Comprehensive Income (Loss) [Line Items]
Stockholders' equity	$ (927)		$ (228)

Credit Facilities and Notes P_2

Credit Facilities and Notes Payable (Details) - USD ($)		1 Months Ended	3 Months Ended	6 Months Ended
Credit Facilities and Notes Payable (Details) - USD ($)	Apr. 08, 2020	Feb. 28, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Line of Credit Facility [Line Items]
Gain on forgiveness of debt				$ 0	$ 10,124,000
PPP Loans
Line of Credit Facility [Line Items]
Loan proceeds received	$ 10,000,000
Gain on forgiveness of debt			$ 10,100,000
Revolving Credit Facility \| 2020 Revolving Line \| Line of Credit
Line of Credit Facility [Line Items]
Available borrowing capacity				4,200,000
Line of Credit \| 2020 Revolving Line
Line of Credit Facility [Line Items]
Outstanding borrowings under facility				$ 0
Line of Credit \| Revolving Credit Facility \| 2020 Revolving Line
Line of Credit Facility [Line Items]
Maximum borrowing capacity		$ 25,000,000
Line of Credit \| Revolving Credit Facility \| 2020 Revolving Line \| Prime Rate
Line of Credit Facility [Line Items]
Applicable margin on variable rate		0.015%
Line of Credit \| Revolving Credit Facility \| 2020 Revolving Line \| SOFR
Line of Credit Facility [Line Items]
Applicable margin on variable rate		0.025%
Line of Credit \| Letter of Credit \| 2020 Revolving Line
Line of Credit Facility [Line Items]
Maximum borrowing capacity		$ 5,000,000

Stockholders_ Equity - Narrativ

Stockholders’ Equity - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands			3 Months Ended		6 Months Ended
	Jun. 30, 2022	Sep. 29, 2020	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021	Jun. 15, 2022	Mar. 31, 2022	Feb. 28, 2022	Dec. 31, 2021	Mar. 31, 2021	Dec. 31, 2020	Oct. 19, 2020
Class of Stock [Line Items]
Common stock, shares authorized (in shares)	2,250,000,000		2,250,000,000		2,250,000,000
Common stock, par value (in USD per share)	$ 0.0001		$ 0.0001		$ 0.0001
Payment of issuance costs related to ATM shares			$ 741
Preferred stock, shares authorized (in shares)	25,000,000		25,000,000		25,000,000
Preferred stock, par value (in USD per share)	$ 0.0001		$ 0.0001		$ 0.0001
Preferred stock, shares issued (in shares)	0		0		0
Preferred stock, shares outstanding (in shares)	0		0		0
Warrants outstanding (in shares)	5,973,870	24,876,512	5,973,870		5,973,870					5,973,870
Stockholders' equity	$ 230,198		$ 230,198	$ 365,693	$ 230,198	$ 365,693		$ 259,654		$ 299,263	$ 391,677	$ 340,823
Common stock equivalents excluded from the computation of diluted net income (loss) per share (in shares)			64,629,000	11,140,000	64,629,000	11,140,000
Reduction of revenue related to stock warrant issued to customer			$ 900		$ 6,245	$ 0
Amazon warrant shares
Class of Stock [Line Items]
Common stock equivalents excluded from the computation of diluted net income (loss) per share (in shares)			39,644,000	0	39,644,000	0
Amazon.com NV Investment Holdings LLC
Class of Stock [Line Items]
Warrant vesting payments to be received									$ 200,000
Amazon.com NV Investment Holdings LLC \| Warrant
Class of Stock [Line Items]
Shares vested (in shares)	0
Prior Year Adjustment of Warrants
Class of Stock [Line Items]
Stockholders' equity												0
Accumulated Deficit
Class of Stock [Line Items]
Stockholders' equity	$ (619,753)		$ (619,753)	$ (434,151)	$ (619,753)	$ (434,151)		(575,454)		(526,333)	(354,914)	(315,682)
Accumulated Deficit \| Prior Year Adjustment of Warrants
Class of Stock [Line Items]
Stockholders' equity										1,600		1,585
Additional Paid in Capital
Class of Stock [Line Items]
Stockholders' equity	$ 851,132		$ 851,132	$ 800,040	$ 851,132	$ 800,040		$ 836,229		825,988	$ 746,824	656,717
Additional Paid in Capital \| Prior Year Adjustment of Warrants
Class of Stock [Line Items]
Stockholders' equity										$ (1,600)		$ (1,585)
Public warrant shares
Class of Stock [Line Items]
Number of shares available per warrant (in shares)		0.75
Warrant exercise price (in USD per share)		$ 11.50
Period after the Business Combination after which the public warrants become exercisable		30 days
Warrant expiration period		5 years
Redemption price (in USD per share)					$ 0.01
Stock price trigger (in USD per share)		$ 18
Threshold trading days		20 days
Threshold trading day window		30 days
Days prior to notice of redemption		3 days
Shares registered that may be issued upon exercise of warrants (in shares)													18,657,384
Working Capital Warrants
Class of Stock [Line Items]
Shares registered that may be issued upon exercise of warrants (in shares)													375,000
Amazon warrant shares \| Amazon.com NV Investment Holdings LLC
Class of Stock [Line Items]
Warrant exercise price (in USD per share)									$ 4.18
Warrants outstanding (in shares)	39,644,426		39,644,426		39,644,426				39,594,032
Warrants additional outstanding (in shares)	50,394		50,394		50,394
Equity Distribution Agreement
Class of Stock [Line Items]
Common stock, par value (in USD per share)							$ 0.0001
Common stock aggregate offering price							$ 100,000
Commission percentage of gross proceeds							2.50%
Net proceeds			$ 6,800
Shares issued (in shares)			6,471,048
Price per share (in USD per share)	$ 1.17		$ 1.17		$ 1.17

Stockholders_ Equity - Summary

Stockholders’ Equity - Summary of Common Stock Outstanding (Details) - shares	Jun. 30, 2022	Dec. 31, 2021
Class of Stock [Line Items]
Common stock, shares outstanding (in shares)	216,162,710	197,346,675
Converted pre-combination Velodyne common stock outstanding
Class of Stock [Line Items]
Common stock, shares outstanding (in shares)	9,575,438	82,024,874
Converted pre-combination Velodyne preferred stock outstanding
Class of Stock [Line Items]
Common stock, shares outstanding (in shares)	24,772,759	24,772,759
Graf Founder shares
Class of Stock [Line Items]
Common stock, shares outstanding (in shares)	142,800	157,800
Other stockholders
Class of Stock [Line Items]
Common stock, shares outstanding (in shares)	181,671,713	90,391,242

Stockholders_ Equity - Summar_2

Stockholders’ Equity - Summary of Common Stock Issuances Related to the Warrant Exercises (Details) - shares	Jun. 30, 2022	Dec. 31, 2021	Sep. 29, 2020
Equity [Abstract]
Warrants outstanding upon Closing (in shares)	24,876,512	24,876,512
Warrants exercised to date (in shares)	18,902,642	18,902,642
Warrants outstanding (in shares)	5,973,870	5,973,870	24,876,512
Aggregated common shares issuable upon exercise of warrants (in shares)	18,657,384	18,657,384
Common shares issued upon exercise of warrants (in shares)	14,176,959	14,176,959
Remaining common shares issued upon exercise of warrants (in shares)	4,480,425	4,480,425

Stockholders_ Equity - Amazon W

Stockholders’ Equity - Amazon Warrant (Details) - Warrant - Amazon.com NV Investment Holdings LLC	6 Months Ended
	Jun. 30, 2022
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Expected term, in years	6 years
Expected volatility	50%
Risk-free interest rate	1.84%
Expected dividend yield	0%

Stock-Based Compensation - Narr

Stock-Based Compensation - Narrative (Details)		6 Months Ended
Stock-Based Compensation - Narrative (Details)	Jan. 01, 2021 shares	Jun. 30, 2022 USD ($) purchase_period shares	Mar. 31, 2021 shares	Sep. 29, 2020 shares
Employee Stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares issued under ESPP (in shares)		785,205
Purchase price of common stock percentage		85%
Maximum withholding percentage of compensation		15%
Maximum number of shares and employee can purchase in an offering period (in shares)		7,000
Maximum value of shares an employee can purchase in a calendar year \| $		$ 25,000
Number of purchase periods \| purchase_period		2
Purchase period duration		6 months
Unrecognized compensation cost related to awards \| $		$ 1,200,000
Weighted-average recognition period for unrecognized compensation cost related to stock options		6 months 29 days
RSU
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized compensation cost related to awards \| $		$ 39,200,000
Weighted-average recognition period for unrecognized compensation cost related to stock options		3 years 2 months 12 days
RSA
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized compensation cost related to awards \| $		$ 3,700,000
Weighted-average recognition period for unrecognized compensation cost related to stock options		3 years 7 months 24 days
PRSA
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized compensation cost related to awards \| $		$ 7,500,000
Weighted-average recognition period for unrecognized compensation cost related to stock options		1 year 8 months 1 day
2020 Equity Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares reserved for issuance (in shares)		46,606,012		27,733,888
Expiration period	10 years
Percent increase in shares that may be issued	5%
Increase in the number of shares that may be issued (in shares)	10,000,000
Shares available for issuance (in shares)		10,320,465
2020 Equity Plan \| RSU \| Vesting Period 1
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting percentage		25%
Vesting period		1 year
2020 Equity Plan \| RSU \| Vesting Period 2
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period		3 years
2020 ESPP
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares reserved for issuance (in shares)				3,492,097
2020 ESPP \| Employee Stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares reserved for issuance (in shares)		6,481,317
Percent increase in shares that may be issued	1%
Increase in the number of shares that may be issued (in shares)	2,500,000
Period over which increase in shares that may be issued occurs	20 years
2020 Phantom Stock Incentive Plan \| PSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares reserved for issuance (in shares)			7,635,000
2020 Phantom Stock Incentive Plan \| RSU \| Vesting Period 1
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting percentage		25%
Vesting period		1 year
2020 Phantom Stock Incentive Plan \| RSU \| Vesting Period 2
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period		3 years
2020 Phantom Stock Incentive Plan \| RSA \| Vesting Period 1
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting percentage		25%
Vesting period		1 year
2020 Phantom Stock Incentive Plan \| RSA \| Vesting Period 2
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period		3 years
2020 Phantom Stock Incentive Plan \| PRSA
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period		3 years

Stock-Based Compensation - Summ

Stock-Based Compensation - Summary of RSU and RSA Activity under Equity Plans (Details) $ / shares in Units, $ in Thousands	6 Months Ended
	Jun. 30, 2022 USD ($) $ / shares shares
RSA
Shares
Outstanding (in shares)	211,298
Granted (in shares)	1,392,254
Released (in shares)	(61,708)
Canceled (in shares)	(140,254)
Outstanding (in shares)	1,401,590
Weighted Average Grant Date Fair Value per Share
Outstanding (in USD per share) \| $ / shares	$ 6.63
Granted (in USD per share) \| $ / shares	2.21
Released (in USD per share) \| $ / shares	2.20
Canceled (in USD per share) \| $ / shares	2.20
Outstanding (in USD per share) \| $ / shares	$ 2.88
Fair value of awards released \| $	$ 103
RSU
Shares
Outstanding (in shares)	5,126,896
Granted (in shares)	8,020,089
Released (in shares)	(1,114,087)
Forfeited (in shares)	(1,773,344)
Outstanding (in shares)	10,259,554
Weighted Average Grant Date Fair Value per Share
Outstanding (in USD per share) \| $ / shares	$ 10.51
Granted (in USD per share) \| $ / shares	2.05
Released (in USD per share) \| $ / shares	9.66
Forfeited (in USD per share) \| $ / shares	8.32
Outstanding (in USD per share) \| $ / shares	$ 4.37
Fair value of awards released \| $	$ 2,810
PRSU
Shares
Outstanding (in shares)	330,505
Released (in shares)	(330,505)
Outstanding (in shares)	0
Weighted Average Grant Date Fair Value per Share
Outstanding (in USD per share) \| $ / shares	$ 6.72
Released (in USD per share) \| $ / shares	$ 6.72
Fair value of awards released \| $	$ 1,292
PRSA
Shares
Outstanding (in shares)	0
Granted (in shares)	9,781,722
Canceled (in shares)	(698,150)
Outstanding (in shares)	9,083,572
Weighted Average Grant Date Fair Value per Share
Granted (in USD per share) \| $ / shares	$ 2.12
Canceled (in USD per share) \| $ / shares	2.20
Outstanding (in USD per share) \| $ / shares	$ 2.12
Fair value of awards canceled \| $

Stock-Based Compensation - Stoc

Stock-Based Compensation - Stock-Based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Stock-based compensation expense	$ 6,311	$ 53,205	$ 11,246	$ 64,735
Cost of revenue
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Stock-based compensation expense	759	431	1,280	967
Research and development
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Stock-based compensation expense	2,831	2,754	5,187	7,664
Sales and marketing
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Stock-based compensation expense	988	41,616	1,859	43,602
General and administrative
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Line Items]
Stock-based compensation expense	$ 1,733	$ 8,404	$ 2,920	$ 12,502

Net Loss Per Share - Common Sto

Net Loss Per Share - Common Stock Equivalents Excluded From the Computation of Diluted Net Income (Loss) Per Share (Details) - shares shares in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Common stock equivalents excluded from the computation of diluted net income (loss) per share (in shares)	64,629	11,140	64,629	11,140
Stock options
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Common stock equivalents excluded from the computation of diluted net income (loss) per share (in shares)	10	597	10	597
RSAs and PRSAs
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Common stock equivalents excluded from the computation of diluted net income (loss) per share (in shares)	10,485	0	10,485	0
RSUs (non-vested)
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Common stock equivalents excluded from the computation of diluted net income (loss) per share (in shares)	10,010	6,060	10,010	6,060
Public warrant shares
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Common stock equivalents excluded from the computation of diluted net income (loss) per share (in shares)	4,480	4,483	4,480	4,483
Amazon warrant shares
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Common stock equivalents excluded from the computation of diluted net income (loss) per share (in shares)	39,644	0	39,644	0

Retirement Plan (Details)

Retirement Plan (Details) - USD ($) $ in Millions	3 Months Ended		6 Months Ended
Retirement Plan (Details) - USD ($) $ in Millions	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Retirement Benefits [Abstract]
Contribution match percentage			25%
Vesting percentage			25%
Vesting period			4 years
Matching contributions	$ 0.3	$ 0.3	$ 0.6	$ 0.5

Income Taxes - Summary of Loss

Income Taxes - Summary of Loss Before Income Taxes and Provision For (Benefit From) Income Taxes (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Income Tax Disclosure [Abstract]
Loss before income taxes	$ (44,440)	$ (78,898)	$ (93,114)	$ (119,419)
Provision for (benefit from) income taxes	$ (141)	$ 339	$ 306	$ 635
Effective tax rate	0.30%	(0.40%)	(0.30%)	(0.50%)

Income Taxes - Narrative (Detai

Income Taxes - Narrative (Details)	3 Months Ended		6 Months Ended
Income Taxes - Narrative (Details)	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Income Tax Disclosure [Abstract]
Effective tax rate	0.30%	(0.40%)	(0.30%)	(0.50%)

Commitments and Contingencies -

Commitments and Contingencies - Narrative (Details)			1 Months Ended		6 Months Ended
Commitments and Contingencies - Narrative (Details)	Feb. 17, 2022 USD ($)	Aug. 05, 2021 USD ($)	Nov. 30, 2017 petition	Sep. 30, 2016 patent	Jun. 30, 2022 USD ($) device	Dec. 16, 2021 trade_secret	Sep. 07, 2021 device
Loss Contingencies [Line Items]
Purchase commitments					$ 29,100,000
Other contractual obligations					900,000
Pending Litigation
Loss Contingencies [Line Items]
Liabilities for loss contingencies					$ 800,000
Minimum
Loss Contingencies [Line Items]
Remaining commitment period					1 month
Maximum
Loss Contingencies [Line Items]
Remaining commitment period					1 year
Velodyne vs. David Hall \| Pending Litigation
Loss Contingencies [Line Items]
Number of devices with copied materials \| device					71		3
Number of misappropriated trade secrets \| trade_secret						2,740
Amount awarded from other party	$ 5,000
Quanergy Litigation
Loss Contingencies [Line Items]
Number of patents allegedly infringed \| patent				1
Number of claims filed \| petition			2
Former Employee \| Settled Litigation
Loss Contingencies [Line Items]
Amount awarded to other party		$ 800,000

Commitments and Contingencies_2

Commitments and Contingencies - Product Warranties (Details) - USD ($) $ in Thousands	6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021
Movement in Standard Product Warranty Accrual [Roll Forward]
Balance as of the beginning of the period	$ 1,934	$ 2,204
Warranty provision	1,893	898
Consumption	(541)	(649)
Changes in provision estimates	(1,400)	(1,300)
Balance as of the end of the period	$ 1,886	$ 1,153

Segment, Geographic and Custo_3

Segment, Geographic and Customer Concentration Information - Narrative (Details) $ in Thousands	3 Months Ended	6 Months Ended
	Jun. 30, 2022 USD ($)	Jun. 30, 2022 USD ($) segment	Jun. 30, 2021 USD ($)
Segment Reporting [Abstract]
Number of operating segments \| segment		1
Reduction of revenue related to stock warrant issued to customer \| $	$ 900	$ 6,245	$ 0

Segment, Geographic and Custo_4

Segment, Geographic and Customer Concentration Information - Revenue by Countries and Customers Accounted For More Than 10% (Details) - Revenue - Geographic Concentration Risk	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Concentration Risk [Line Items]
Concentration percentage	100%	100%	100%	100%
U.S.
Concentration Risk [Line Items]
Concentration percentage	33%	37%	14%	31%
China
Concentration Risk [Line Items]
Concentration percentage	15%	24%	21%	36%
Sweden
Concentration Risk [Line Items]
Concentration percentage	12%	15%	16%	14%
Germany
Concentration Risk [Line Items]
Concentration percentage	12%

Related Party Transactions - Re

Related Party Transactions - Revenue and Accounts Receivable for Related Parties (Details) - Stockholder A - Investor - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021	Dec. 31, 2021
Related Party Transaction [Line Items]
Revenue	$ 0	$ 44	$ 295	$ 83
Accounts receivable	$ 531		$ 531		$ 219

Related Party Transactions - Na

Related Party Transactions - Narrative (Details) - USD ($) $ in Millions	2 Months Ended	3 Months Ended		5 Months Ended	6 Months Ended
	May 31, 2021	Jun. 30, 2022	Jun. 30, 2021	May 31, 2021	Jun. 30, 2022	Jun. 30, 2021
Related Party Transaction [Line Items]
Lease cost		$ 1	$ 1.1		$ 2	$ 2.2
Affiliated Entity \| Corporate Headquarters Facility Rental
Related Party Transaction [Line Items]
Lease cost	$ 0.6			$ 1.4