| Document and Entity Information | Jan. 23, 2023 |
| Document And Entity Information [Line Items] | |
| Amendment Flag | true |
| Entity Central Index Key | 0001745317 |
| Document Type | 8-K/A |
| 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 | true |
| Soliciting Material | false |
| Pre Commencement Tender Offer | false |
| Pre Commencement Issuer Tender Offer | false |
| Entity Emerging Growth Company | true |
| Entity Ex Transition Period | false |
| Amendment Description | This Amendment No. 1 on Form 8-K/A (this “Amended 8-K”) is being filed as an amendment to the Current Report on Form 8-K filed by the Company with the Securities and Exchange Commission on January 24, 2023 (the “Original 8-K”). The purpose of this Amended 8-K is to add as exhibits (a) a letter from Mr. Dee to the Board delivered on January 23, 2023 but dated January 23, 2022 (a copy of which is attached hereto as Exhibit 17.2) (the “Dee Letter”) and (b) a letter in response thereto from the Chairperson of the Board to Mr. Dee dated January 26, 2023 (a copy of which is attached hereto as Exhibit 17.3). The Company hereby advises that it does not agree with the substance of the Dee Letter. Other than to the extent amended hereby, the disclosure contained in the Original 8-K remains unchanged. |
| 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 |
