| Document and Entity Information | Jan. 23, 2023 |
| Document And Entity Information [Line Items] | |
| Amendment Flag | false |
| Entity Central Index Key | 0001745317 |
| Document Type | 8-K |
| Document Period End Date | Jan. 23, 2023 |
| Entity Registrant Name | VELODYNE LIDAR, INC. |
| Entity Incorporation State Country Code | DE |
| Entity File Number | 001-38703 |
| 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 |
| Written Communications | false |
| Soliciting Material | false |
| Pre Commencement Tender Offer | false |
| Pre Commencement Issuer Tender Offer | false |
| Entity Emerging Growth Company | true |
| Entity Ex Transition Period | false |
| Common Stock [Member] | |
| Document And Entity Information [Line Items] | |
| Security 12b Title | Common stock, $0.0001 par value |
| Trading Symbol | VLDR |
| Security Exchange Name | NASDAQ |
| Warrant [Member] | |
| Document And Entity Information [Line Items] | |
| Security 12b Title | Warrants, each exercisable for three-quarters of one share of common stock |
| Trading Symbol | VLDRW |
| Security Exchange Name | NASDAQ |
