| Document and Entity Information | Nov. 17, 2023 |
| Document And Entity Information [Line Items] | |
| Entity Registrant Name | Markforged Holding Corporation |
| Amendment Flag | false |
| Entity Central Index Key | 0001816613 |
| Document Type | 8-K |
| Document Period End Date | Nov. 17, 2023 |
| Entity Incorporation State Country Code | DE |
| Entity File Number | 001-39453 |
| Entity Tax Identification Number | 92-3037714 |
| Entity Address, Address Line One | 60 Tower Road |
| Entity Address, City or Town | Waltham |
| Entity Address, State or Province | MA |
| Entity Address, Postal Zip Code | 02451 |
| City Area Code | 866 |
| Local Phone Number | 496-1805 |
| 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 0.0001 Par Value Per Share [Member] | |
| Document And Entity Information [Line Items] | |
| Security 12b Title | Common Stock, $0.0001 par value per share |
| Trading Symbol | MKFG |
| Security Exchange Name | NYSE |
| Redeemable Warrants Each Whole Warrant Exercisable For One Share Of Common Stock 0.0001 Par Value [Member] | |
| Document And Entity Information [Line Items] | |
| Security 12b Title | Redeemable Warrants, each whole warrant exercisable for one share of Common Stock, $0.0001 par value |
| Trading Symbol | MKFG.WS |
| Security Exchange Name | NYSE |
