TuSimple (TSPH) 10-Q 6 Aug 21 2021 Q2 Quarterly report Financial data

Document and Entity Information

Document and Entity Information - shares	6 Months Ended
	Jun. 30, 2021	Jul. 31, 2021
Document Information [Line Items]
Document Type	10-Q
Amendment Flag	false
Document Period End Date	Jun. 30, 2021
Document Fiscal Year Focus	2021
Document Fiscal Period Focus	Q2
Entity Registrant Name	TuSimple Holdings Inc.
Entity Central Index Key	0001823593
Entity Current Reporting Status	Yes
Entity Interactive Data Current	Yes
Current Fiscal Year End Date	--12-31
Entity Filer Category	Non-accelerated Filer
Entity Shell Company	false
Entity Small Business	false
Entity Emerging Growth Company	true
Entity Ex Transition Period	false
Entity File Number	001-40326
Entity Tax Identification Number	86-2341575
Entity Address, Address Line One	9191 Towne Centre Drive
Entity Address, Address Line Two	Suite 600
Entity Address, City or Town	San Diego
Entity Address, State or Province	CA
Entity Address, Postal Zip Code	92122
City Area Code	619
Local Phone Number	916-3144
Document Quarterly Report	true
Document Transition Report	false
Entity Incorporation, State or Country Code	DE
Title of 12(b) Security	Class A Common Stock, par value $0.0001 per share
Trading Symbol	TSP
Security Exchange Name	NASDAQ
Common Class A
Document Information [Line Items]
Entity Common Stock, Shares Outstanding		185,040,398
Common Class B
Document Information [Line Items]
Entity Common Stock, Shares Outstanding		24,000,000

Condensed Consolidated Balance

Condensed Consolidated Balance Sheets (Unaudited) - USD ($) $ in Thousands	Jun. 30, 2021	Dec. 31, 2020
Current assets:
Cash and cash equivalents	$ 1,489,829	$ 310,815
Accounts receivable, net	1,274	1,144
Prepaid expenses and other current assets	15,781	3,816
Amounts due from related parties		3,708
Total current assets	1,506,884	319,483
Property and equipment, net	25,435	22,116
Other assets	5,879	4,986
Total assets	1,538,198	346,585
Current liabilities:
Accounts payable	5,074	4,542
Amounts due to related parties		4,360
Amounts due to joint development partners	6,654	1,355
Accrued expenses and other current liabilities	25,122	22,961
Short-term debt	509	4,623
Warrants liability		42,452
Capital lease liabilities, current	851	805
Total current liabilities	38,210	81,098
Capital lease liabilities, noncurrent	3,345	3,767
Other liabilities	3,673	2,402
Total liabilities	45,228	87,267
Commitments and contingencies (Note 4)
Redeemable convertible preferred stock, $0.0001 par value; 138,102,770 and zero shares authorized as of December 31, 2020 and June 30, 2021; 102,074,703 and zero shares issued and outstanding as of December 31, 2020 and June 30, 2021, respectively; aggregate liquidation preference of $598,842 and $0 as of December 31, 2020 and June 30, 2021, respectively		664,791
Stockholders' equity (deficit):
Common stock, $0.0001 par value; 361,897,230 and 4,876,000,000 Class A shares authorized as of December 31, 2020 and June 30, 2021; 60,543,337 and 185,040,398 shares issued and outstanding as of December 31, 2020 and June 30, 2021, respectively; zero and 24,000,000 Class B shares authorized as of December 31, 2020 and June 30, 2021; zero and 24,000,000 shares issued and outstanding as of December 31, 2020 and June 30, 2021, respectively	21	6
Additional paid-in-capital	2,399,981
Accumulated other comprehensive loss	(165)	(301)
Accumulated deficit	(906,867)	(405,178)
Total stockholders’ equity (deficit)	1,492,970	(405,473)
Total liabilities, redeemable convertible preferred stock and stockholders’ equity (deficit)	$ 1,538,198	$ 346,585

Condensed Consolidated Balanc_2

Condensed Consolidated Balance Sheets (Unaudited) (Parenthetical) - USD ($) $ in Thousands	Jun. 30, 2021	Dec. 31, 2020
Redeemable convertible preferred stock, par value	$ 0.0001	$ 0.0001
Redeemable convertible preferred stock, shares authorized	0	138,102,770
Redeemable convertible preferred stock, shares issued	0	102,074,703
Redeemable convertible preferred stock, shares outstanding	0	102,074,703
Redeemable convertible preferred stock, aggregate liquidation preference	$ 0	$ 598,842
Common stock, par value	$ 0.0001	$ 0.0001
Common Class A
Common stock, shares authorized	4,876,000,000	361,897,230
Common stock, shares issued	185,040,398	60,543,337
Common stock, shares outstanding	185,040,398	60,543,337
Common Class B
Common stock, shares authorized	24,000,000	0
Common stock, shares issued	24,000,000	0
Common stock, shares outstanding	24,000,000	0

Condensed Consolidated Statemen

Condensed Consolidated Statements of Operations - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020
Income Statement [Abstract]
Revenue	$ 1,482	$ 263	$ 2,426	$ 522
Costs and expenses:
Cost of revenue	2,982	857	5,228	1,628
Research and development	75,891	21,979	117,325	40,161
Sales and marketing	1,041	243	1,719	680
General and administrative	42,425	5,207	57,649	11,933
Total costs and expenses	122,339	28,286	181,921	54,402
Loss from operations	(120,857)	(28,023)	(179,495)	(53,880)
Change in fair value of warrants liability			(326,900)
Gain on loan extinguishment	4,183		4,183
Other income (expense), net	145	(61)	523	35
Loss before provision for income taxes	(116,529)	(28,084)	(501,689)	(53,845)
Net loss	(116,529)	(28,084)	(501,689)	(53,845)
Accretion of redeemable convertible preferred stock			(4,135)
Net loss attributable to common stockholders	$ (116,529)	$ (28,084)	$ (505,824)	$ (53,845)
Net loss per share attributable to common stockholders, basic and diluted	$ (0.64)	$ (0.49)	$ (4.15)	$ (0.94)
Weighted-average shares used in computing net loss per share attributable to common stockholders, basic and diluted	182,382,800	57,401,912	121,800,404	57,068,132

Condensed Consolidated Statem_2

Condensed Consolidated Statements of Comprehensive Loss (Unaudited) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020
Statement Of Income And Comprehensive Income [Abstract]
Net loss	$ (116,529)	$ (28,084)	$ (501,689)	$ (53,845)
Other comprehensive loss:
Foreign currency translation adjustment	(775)	188	136	190
Comprehensive loss	$ (117,304)	$ (27,896)	$ (501,553)	$ (53,655)

Condensed Consolidated Statem_3

Condensed Consolidated Statements of Redeemable Convertible Preferred Stock and Stockholders' Equity (Deficit) (Unaudited) - USD ($) $ in Thousands	Total	Initial Public Offering	Private Placement	Redeemable Convertible Preferred Stock	Redeemable Convertible Preferred StockInitial Public Offering	Series E Redeemable Convertible Preferred Stock	Series E-2 Redeemable Convertible Preferred Stock	Common Stock	Common StockInitial Public Offering	Common StockPrivate Placement	Additional Paid-in Capital	Additional Paid-in CapitalInitial Public Offering	Additional Paid-in CapitalPrivate Placement	Accumulated Other Comprehensive Income (Loss)	Accumulated Deficit	Total TuSimple Holdings Inc. Stockholders? Deficit	Noncontrolling Interests
Beginning Balance at Dec. 31, 2019				$ 293,736
Beginning Balance, Shares at Dec. 31, 2019				74,939,388
Beginning Balance at Dec. 31, 2019	$ (219,414)							$ 6						$ (658)	$ (218,718)	$ (219,370)	$ (44)
Beginning Balance, Shares at Dec. 31, 2019								56,516,425
Issuance of common stock from exercise of options, shares								2,125,000
Stock-based compensation	1,227										$ 1,227					1,227
Acquisition of noncontrolling interest in subsidiary														(44)		(44)	44
Foreign currency translation adjustment	2													2		2
Net loss	(25,761)														(25,761)	(25,761)
Ending Balance at Mar. 31, 2020				$ 293,736
Ending Balance, Shares at Mar. 31, 2020				74,939,388
Ending Balance at Mar. 31, 2020	(243,946)							$ 6			1,227			(700)	(244,479)	(243,946)
Ending Balance, Shares at Mar. 31, 2020								58,641,425
Beginning Balance at Dec. 31, 2019				$ 293,736
Beginning Balance, Shares at Dec. 31, 2019				74,939,388
Beginning Balance at Dec. 31, 2019	(219,414)							$ 6						(658)	(218,718)	(219,370)	$ (44)
Beginning Balance, Shares at Dec. 31, 2019								56,516,425
Foreign currency translation adjustment	190
Net loss	(53,845)
Ending Balance at Jun. 30, 2020				$ 293,736
Ending Balance, Shares at Jun. 30, 2020				74,939,388
Ending Balance at Jun. 30, 2020	(271,389)							$ 6			1,680			(512)	(272,563)	(271,389)
Ending Balance, Shares at Jun. 30, 2020								58,641,425
Beginning Balance at Mar. 31, 2020				$ 293,736
Beginning Balance, Shares at Mar. 31, 2020				74,939,388
Beginning Balance at Mar. 31, 2020	(243,946)							$ 6			1,227			(700)	(244,479)	(243,946)
Beginning Balance, Shares at Mar. 31, 2020								58,641,425
Stock-based compensation	453										453					453
Foreign currency translation adjustment	188													188		188
Net loss	(28,084)														(28,084)	(28,084)
Ending Balance at Jun. 30, 2020				$ 293,736
Ending Balance, Shares at Jun. 30, 2020				74,939,388
Ending Balance at Jun. 30, 2020	(271,389)							$ 6			1,680			(512)	(272,563)	$ (271,389)
Ending Balance, Shares at Jun. 30, 2020								58,641,425
Beginning Balance at Dec. 31, 2020	$ 664,791			$ 664,791
Beginning Balance, Shares at Dec. 31, 2020	102,074,703			102,074,703
Beginning Balance at Dec. 31, 2020	$ (405,473)							$ 6						(301)	(405,178)
Beginning Balance, Shares at Dec. 31, 2020								60,543,337
Issuance of redeemable convertible preferred stock, net of issuance costs						$ 61,631
Issuance of redeemable convertible preferred stock, net of issuance costs, shares						4,650,999
Issuance of redeemable convertible preferred stock from the exercise of warrants						$ 379,084	$ 173,275
Issuance of redeemable convertible preferred stock from the exercise of warrants, shares						9,477,073	4,331,644
Issuance of common stock from exercise of options	1										1
Issuance of common stock from exercise of options, shares								60,616
Vesting of early-exercised stock options	21										21
Accretion of redeemable convertible preferred stock to redemption value				$ 4,135
Accretion of redeemable convertible preferred stock to redemption value	(4,135)										(4,135)
Stock-based compensation	6,289										6,289
Foreign currency translation adjustment	911													911
Net loss	(385,160)														(385,160)
Ending Balance at Mar. 31, 2021				$ 1,282,916
Ending Balance, Shares at Mar. 31, 2021				120,534,419
Ending Balance at Mar. 31, 2021	(787,546)							$ 6			2,176			610	(790,338)
Ending Balance, Shares at Mar. 31, 2021								60,603,953
Beginning Balance at Dec. 31, 2020	$ 664,791			$ 664,791
Beginning Balance, Shares at Dec. 31, 2020	102,074,703			102,074,703
Beginning Balance at Dec. 31, 2020	$ (405,473)							$ 6						(301)	(405,178)
Beginning Balance, Shares at Dec. 31, 2020								60,543,337
Foreign currency translation adjustment	136
Net loss	$ (501,689)
Ending Balance, Shares at Jun. 30, 2021	0				0
Ending Balance at Jun. 30, 2021	$ 1,492,970							$ 21			2,399,981			(165)	(906,867)
Ending Balance, Shares at Jun. 30, 2021								209,040,398
Beginning Balance at Mar. 31, 2021				$ 1,282,916
Beginning Balance, Shares at Mar. 31, 2021				120,534,419
Beginning Balance at Mar. 31, 2021	(787,546)							$ 6			2,176			610	(790,338)
Beginning Balance, Shares at Mar. 31, 2021								60,603,953
Vesting of early-exercised stock options	21										21
Conversion of redeemable convertible preferred stock in connection with initial public offering					$ (1,282,916)
Conversion of redeemable convertible preferred stock in connection with initial public offering, shares					(120,534,419)
Conversion of convertible common stock in connection with initial public offering		$ 1,282,916							$ 12			$ 1,282,904
Conversion of convertible common stock in connection with initial public offering, shares									120,534,419
Issuance of common stock in connection with initial public offering , net of offering costs and private placement		$ 1,027,374	$ 35,000						$ 3			$ 1,027,371	$ 35,000
Issuance of common stock in connection with initial public offering , net of offering costs and private placement, shares									27,027,027	874,999
Stock-based compensation	52,509										52,509
Foreign currency translation adjustment	(775)													(775)
Net loss	$ (116,529)														(116,529)
Ending Balance, Shares at Jun. 30, 2021	0				0
Ending Balance at Jun. 30, 2021	$ 1,492,970							$ 21			$ 2,399,981			$ (165)	$ (906,867)
Ending Balance, Shares at Jun. 30, 2021								209,040,398

Condensed Consolidated Statem_4

Condensed Consolidated Statements of Cash Flows (Unaudited) $ in Thousands	3 Months Ended	6 Months Ended
	Jun. 30, 2021USD ($)	Jun. 30, 2021USD ($)	Jun. 30, 2020USD ($)
Cash flows from operating activities:
Net loss	$ (116,529)	$ (501,689)	$ (53,845)
Adjustments to reconcile net loss to net cash used in operating activities:
Stock-based compensation		58,798	1,680
Accretion of asset retirement obligations			18
Depreciation and amortization	2,300	4,409	3,756
Loss on disposal of property and equipment			118
Change in fair value of warrants liability		326,900
Gain on loan extinguishment	(4,183)	(4,183)
Changes in operating assets and liabilities:
Accounts receivable		(130)	(97)
Prepaid expenses and other current assets		(11,995)	111
Other assets		(752)	(68)
Accounts payable		532	729
Amounts due to/from related parties			(485)
Amounts due to joint development partners		5,299
Accrued expenses and other current liabilities		5,947	(1,392)
Other liabilities		1,449	1,129
Net cash used in operating activities		(115,415)	(48,346)
Cash flows from investing activities:
Purchases of property and equipment		(5,928)	(1,880)
Purchases of intangible assets		(179)	(132)
Proceeds from disposal of property and equipment		100	1
Net cash used in investing activities		(6,007)	(2,011)
Cash flows from financing activities:
Proceeds from issuance of redeemable convertible preferred stock, net of offering costs		54,693
Proceeds from exercise of warrants for redeemable convertible preferred stock		183,007
Proceeds from early exercised stock options		253
Proceeds from issuance of common stock upon initial public offering, net of offering costs		1,030,965
Proceeds from issuance of common stock related to private placement		35,000
Proceeds from related party loan			5,000
Proceeds from loans			4,134
Return of guarantee deposit on related party loan		3,715
Principal payments on related party loan		(4,398)
Payment of third-party costs in connection with initial public offering		(2,328)
Principal payments on capital lease obligations		(382)	(347)
Principal payments on other liabilities		(237)
Net cash provided by financing activities		1,300,288	8,787
Effect of exchange rate changes on cash, cash equivalents, and restricted cash		118	(215)
Net increase (decrease) in cash, cash equivalents, and restricted cash		1,178,984	(41,785)
Cash, cash equivalents, and restricted cash - beginning of period		312,351	64,110
Cash, cash equivalents, and restricted cash - end of period	1,491,335	1,491,335	22,325
Reconciliation of cash, cash equivalents, and restricted cash to the condensed consolidated balance sheets:
Cash and cash equivalents	1,489,829	1,489,829	21,575
Restricted cash included in prepaid expenses and other current assets	1,506	1,506	750
Cash, cash equivalents, and restricted cash - end of period	$ 1,491,335	1,491,335	22,325
Supplemental disclosure of cash flow information:
Cash paid for interest		386	684
Supplemental schedule of non-cash investing and financing activities:
Acquisitions of property and equipment included in current liabilities		1,807	777
Accretion of redeemable convertible preferred stock		4,135
Vesting of early exercised stock options		42
Exercise of liability-classified warrants		369,352
Conversion of redeemable convertible preferred stock to common stock upon initial public offering		1,282,916
Cashless exercise of stock options for common stock			$ 975
Issuance costs incurred in connection with initial public offering included in current liabilities		$ 1,263

Description of Business and Sum

Description of Business and Summary of Significant Accounting Policies	6 Months Ended
	Jun. 30, 2021
Organization Consolidation And Presentation Of Financial Statements [Abstract]
Description of Business and Summary of Significant Accounting Policies	Note 1. Description of Business and Summary of Significant Accounting Policies Description of Business TuSimple Holdings Inc. (“TuSimple” or the “Company”) is principally engaged in the operation and development of autonomous trucks and an autonomous freight network (“AFN”). The Company is headquartered in San Diego, California. TuSimple was originally incorporated as Tusimple (Cayman) Limited, a limited liability company in the Cayman Islands, on October 25, 2016. In February 2021, the Company deregistered as a Cayman Islands exempted company and continued and domesticated as a corporation incorporated under the laws of the State of Delaware (the “Domestication”). The business, assets and liabilities of the Company and its subsidiaries on a consolidated basis, as well as its principal locations and fiscal year, were the same immediately after the Domestication as they were immediately prior to the Domestication. In addition, the directors and executive officers of the Company immediately after the Domestication were the same individuals who were directors and executive officers, respectively, of the Company immediately prior to the Domestication. Initial Public Offering and Private Placement On April 19, 2021, the Company closed its initial public offering (“IPO”) and concurrent private placement, in which it issued and sold 27,027,027 shares and 874,999 shares, respectively, of its authorized Class A common stock at $40.00 per share, resulting in net proceeds of $1.0 billion after deducting underwriting discounts and commissions of $50.1 million and offering costs. Upon closing of the IPO, (i) the Company filed an amended and restated certificate of incorporation, which authorized 4,876,000,000 shares of Class A common stock and reclassified all outstanding common stock into Class A common stock, authorized 24,000,000 shares of Class B common stock, which are not publicly traded, and authorized 100,000,000 shares of undesignated preferred stock, (ii) Xiaodi Hou and Mo Chen (the “Founders”) each exchanged 12,000,000 shares of their newly designated Class A common stock for an equivalent number of shares of Class B common stock, and (iii) all shares of the Company’s outstanding redeemable convertible preferred stock automatically converted into 120,534,419 shares of Class A common stock. The rights of the holders of Class A common stock and Class B common stock are identical, except with respect to voting, conversion, and transfer rights. The holders of our Class A common stock are entitled to one vote per share and the holders of our Class B common stock are entitled to 10 votes per share. Additionally, each share of Class B common stock will automatically convert, on a one-for-one basis, into shares of Class A common stock on the earliest of (i) the date specified by a vote of the holders of Class B common stock representing 75% of the outstanding shares of Class B common stock, (ii) the date that is between 90 days and 270 days, as determined by the board of directors, after the death or incapacitation of the last Founder to die or become incapacitated, or (iii) the date that is between 61 and 180 days, as determined by the board of directors, after the date on which the number of outstanding shares of Class B common stock held by the Founders (or their permitted affiliates) is less than 12,000,000 shares. Upon the closing of the IPO, the Company recognized $42.6 million of stock-based compensation expense related to stock options, restricted stock units (“RSUs”), and share value awards (“SVAs”), for which the time-based vesting conditions had been satisfied or partially satisfied and the performance-based conditions were satisfied upon the closing of the IPO. The Company intends to issue 3,564,673 shares of Class A common stock upon settlement of RSUs and SVAs that are vested as of June 30, 2021, which has not yet occurred as of the date of this filing. Refer to Note 6. Stock-Based Compensation for further detail. Additionally, the Company recorded $4.3 million within operating expenses to former employees in connection with post-employment agreements for which payment was contingent upon the occurrence of an IPO or Sale Event (as such terms are defined in the post-employment agreements). Basis of Presentation and Consolidation The accompanying unaudited condensed consolidated financial statements (“Financial Statements”) have been prepared in accordance with accounting principles generally accepted The condensed consolidated balance sheet as of December 31, 2020, was derived from the audited consolidated financial statements as of that date, but does not include all disclosures required by GAAP. In management’s opinion, the accompanying Financial Statements reflect all normal recurring adjustments necessary for their fair presentation. Other than described below, there have been no changes to the Company’s significant accounting policies described in the Prospectus that have had a material impact on the Company’s Financial Statements. Stock-Based Compensation The Company accounts for stock-based compensation expense in accordance with the fair value recognition and measurement provisions of GAAP, which requires compensation cost for the grant-date fair value of stock-based awards to be recognized over the requisite service period. The Company determines the fair value of stock-based awards granted or modified on the grant date (or modification date, if applicable) at fair value, using appropriate valuation techniques. Time-Based Service Awards For stock-based awards with time-based vesting conditions only, generally being stock options, the fair value of each stock award granted is estimated using the Black-Scholes option-pricing model. The Black-Scholes option-pricing model requires the input of highly subjective assumptions, including the fair value of the underlying common stock, the expected stock price volatility over the term of the award, actual and projected employee stock option exercise behaviors, the risk-free interest rate for the expected term of the award and expected dividends. Stock-based compensation is recognized straight-line over the requisite service period, which is generally four years. The Company accounts for forfeitures as they occur instead of estimating the number of awards expected to be forfeited. Performance-Based Awards The Company has granted RSUs, SVAs, and stock options that vest only upon the satisfaction of both time-based service and performance-based conditions. The time-based service condition for these awards generally is satisfied over four years. The performance-based conditions, other than with respect to the CEO Performance Award discussed in Note 6. Stock Based Compensation, are satisfied upon the occurrence of a qualifying event, defined as the earlier of (i) the closing of certain specific liquidation or change in control transactions, or (ii) an IPO. The Company records stock-based compensation expense for performance-based equity awards such as RSUs, SVAs, and stock options on an accelerated attribution method over the requisite service period, which is generally three years, and only if performance-based conditions are considered probable to be satisfied. Upon completion of the IPO, the Company recorded a cumulative one-time stock-based compensation expense determined using the grant-date fair values. Stock-based compensation related to remaining time-based service after the qualifying event is recorded over the remaining requisite service period. For performance-based RSUs and SVAs, the Company determines the grant-date fair value as the fair value of the Company’s common stock on the grant date. For performance-based awards with a vesting schedule based entirely on the attainment of both performance and market conditions, stock-based compensation expense associated with each tranche is recognized over the longer of (i) the expected achievement period for the operational milestones for such tranche and (ii) the expected achievement period for the related market capitalization milestone determined on the grant date, beginning at the point in time when the relevant operational milestones are considered probable of being met. If such operational milestones become probable any time after the grant date, the Company will recognize a cumulative catch-up expense from the grant date to that point in time. If the related market capitalization milestone is achieved earlier than its expected achievement period and the achievement of the related operational milestones, then the stock-based compensation expense will be recognized over the expected achievement period for the operational milestones, which may accelerate the rate at which such expense is recognized. The fair value of such awards is estimated on the grant date using Monte Carlo simulations. Refer to Note 6. Stock Based Compensation for further information. Reclassifications Certain prior period balances have been reclassified to conform to the current period presentation in the condensed consolidated financial statements and the accompanying notes. Restricted cash has been reclassified to prepaid expenses and other current assets and accrued expenses incurred under joint development agreements have been reclassified to be presented separately from amounts due to related parties. Recently Adopted Accounting Pronouncements In August 2018, the Financial Accounting Standards Board (“FASB”) issued Accounting Standards Update (“ASU”) No. 2018-15, Customer’s Accounting for Implementation Costs Incurred in a Cloud Computing Arrangement that Is a Service Contract with no material impact to the Company’s Financial Statements. In December 2019, the FASB issued ASU no. 2019-12, Income Taxes (Topic 740): Simplifying the Accounting for Income Taxes Income Taxes Recently Issued Accounting Pronouncements In February 2016, the FASB issued ASU 2016-02, Leases (Topic 842) Leases ASU 2016-02 requires, among other changes to the lease accounting guidance, lessees to recognize most leases on-balance sheet via a right-of-use asset and lease liability, and additional qualitative and quantitative disclosures. In July 2018, ASU No. 2018-10, Codification Improvements to Topic 842, Leases, was issued to provide more detailed guidance and additional clarification for implementing ASU No. 2016-02. In July 2018, the FASB issued ASU No. 2018-11, Leases (Topic 842): Targeted Improvements , which provides an optional transition method in addition to the existing modified retrospective transition method by allowing a cumulative effect adjustment to the opening balance of retained earnings in the period of adoption. Furthermore, in June 2020, the FASB issued ASU No. 2020-05, Revenue from Contracts with Customers (Topic 606) and Leases (Topic 842): Effective Dates for Certain Entities, which defers the effective date of ASU No. 2016-02 for certain entities. For the Company, the new standard is effective for annual reporting periods beginning after December 15, 2021 and for interim periods within annual periods beginning after December 15, 2022. Early adoption is permitted. Upon adoption of this standard, the Company expects to recognize, on a discounted basis, its minimum commitments under non-cancelable operating leases on the consolidated balance sheets resulting in the recording of right-of-use assets and lease obligations.

Fair Value Measurements

Fair Value Measurements	6 Months Ended
	Jun. 30, 2021
Fair Value Disclosures [Abstract]
Fair Value Measurements	Note 2. Fair Value Measurements The following table presents the Company’s assets and liabilities that are measured at fair value on a recurring basis and indicates the fair value hierarchy of the valuation (in thousands): As of December 31, 2020 Total Level 1 Level 2 Level 3 Assets: Cash equivalents: Certificates of deposit $ 279,279 $ 279,279 $ — $ — Total $ 279,279 $ 279,279 $ — $ — Liabilities: Warrants liability $ 42,452 $ — $ — $ 42,452 Total $ 42,452 $ — $ — $ 42,452 As of June 30, 2021 Total Level 1 Level 2 Level 3 Assets: Cash equivalents: Certificates of deposit $ 7,000 $ 7,000 $ — $ — Money market funds 320,010 320,010 — — Total $ 327,010 $ 327,010 $ — $ — Warrants Liability As of December 31, 2020, the fair value of the warrants liability was estimated using the Black-Scholes option-pricing model. The fair value of the underlying redeemable convertible preferred stock used within the Black-Scholes option-pricing model was estimated using a hybrid between a probability-weighted expected return method (“PWERM”) and option pricing model (“OPM”), estimating the probability-weighted value across multiple scenarios, while using an OPM to estimate the allocation of value within one or more of these scenarios. Discrete future outcomes considered under the PWERM include an IPO of the Company’s common stock, as well as continued operation as a private company. The significant unobservable inputs into the valuation model include the timing and probability of occurrence of these discrete future outcomes and a discount for the lack of marketability of the redeemable convertible preferred stock. In February and March 2021, Traton SE (“Traton”) and Navistar, Inc. (“Navistar”) exercised warrants to purchase 4,331,644 and 9,477,073 shares of Series E-2 and Series E redeemable convertible preferred stock at an exercise price of $11.31 and $14.14, resulting in proceeds of $49.0 million and $134.0 million, respectively. Immediately prior to their exercise, the fair value of the warrants liability was remeasured using the Black-Scholes model. The warrants exercised by Traton represented only a portion of their total and the unexercised warrants expired as of the exercise date. As of June 30, 2021, there were no warrants outstanding. Refer to Note 5. Redeemable Convertible Preferred Stock, Preferred Stock Warrants, and Stockholders’ Deficit for further information. The Company used the following assumptions in the model: As of December 31, 2020 February 26, 2021 March 19, 2021 Discount for lack of marketability 9.00% - 30.00% — — Fair value of underlying securities $14.14 $40.00 $40.00 Expected volatility 53.90% - 76.90% 62.95% 60.85% Expected term (in years) 0.33 - 1.91 1.76 0.79 Risk-free interest rate 0.10% - 0.13% 0.14% 0.08% The following table sets forth a summary of the changes in the estimated fair value of the Company’s warrants liability (in thousands): Balance as of December 31, 2020 $ 42,452 Change in fair value of warrants 326,900 Exercises during the period (369,352 ) Balance as of June 30, 2021 $ —

Balance Sheet Components

Balance Sheet Components	6 Months Ended
	Jun. 30, 2021
Balance Sheet Related Disclosures [Abstract]
Balance Sheet Components	Note 3. Balance Sheet Components Property and Equipment, Net Property and equipment, net as of December 31, 2020 and June 30, 2021, was as follows (in thousands): As of December 31, 2020 June 30, 2021 Electronic equipment $ 11,429 $ 12,304 Office and other equipment 6,152 7,415 Vehicles 12,775 13,673 Leasehold improvements 7,340 9,831 Construction in progress 225 1,861 Property and equipment, gross 37,921 45,084 Accumulated depreciation and amortization (15,805 ) (19,649 ) Property and equipment, net $ 22,116 $ 25,435 Depreciation and amortization expense was $1.8 million and $3.8 million for the three and six months ended June 30, 2020, respectively, and $2.3 million and $4.4 million for the three and six months ended June 30, 2021, respectively. As of December 31, 2020 and June 30, 2021, property and equipment financed under capital leases was $4.6 million and $4.6 million, net of accumulated amortization of $1.8 million and $2.1 million, respectively. Accrued Expenses and Other Current Liabilities Accrued expenses and other current liabilities as of December 31, 2020 and June 30, 2021 were as follows (in thousands): As of December 31, 2020 June 30, 2021 Accrued payroll $ 11,941 $ 15,599 Accrued professional fees 7,865 3,274 Other 3,155 6,249 Accrued expenses and other current liabilities $ 22,961 $ 25,122

Commitments and Contingencies

Commitments and Contingencies	6 Months Ended
	Jun. 30, 2021
Commitments And Contingencies Disclosure [Abstract]
Commitments and Contingencies	Note 4. Commitments and Contingencies Lease Commitments The Company has entered into various noncancelable operating leases for its facilities with various expiry dates through 2033. Future minimum lease payments for non-cancelable operating and capital leases as of June 30, 2021 are as follows (in thousands): Year Ending December 31, Capital Leases Operating Leases Remainder of 2021 $ 708 $ 3,326 2022 1,274 6,753 2023 999 6,933 2024 984 4,776 2025 1,816 3,427 Thereafter — 21,274 Total minimum lease payments $ 5,781 $ 46,489 Amount representing interest 1,585 Present value of minimum lease payments $ 4,196 Rental expenses amounted to $1.3 million and $2.4 million for the three and six months ended June 30, 2020, respectively, and $1.5 million and $2.7 million for the three and six months ended June 30, 2021, respectively. Joint Development Agreement In April 2020, the Company entered into a Development Agreement (“DA”) with Scania relating to a hub-to-hub pilot program using Scania vehicles and the Company’s autonomous technology in northern Europe. Under the DA, each party will fund its own costs related to the program. There are no reimbursements paid between the parties and there are no spending floors included within the DA. Upon successful completion of the development activities, the parties intend to set up a long-term cooperation agreement covering development, maintenance, operation and sales of self-driving systems on a global scale. The terms and conditions of such arrangement will be negotiated by the parties and included in a separate agreement. In July 2020, the Company entered into a Joint Development Agreement (“JDA”) with Navistar, Inc., under which the parties will work collaboratively to develop purpose-built L4 autonomous semi-trucks for the North American market. Under the JDA, the parties grant each other rights to their background intellectual property to permit them to conduct research and development activities. Pursuant to the JDA, the Company agrees to reimburse Navistar up to $10.0 million for research and development expenses incurred. Payment of reimbursements is deferred to align with the achievement of certain milestones and reimbursements due are recorded within accrued expenses in the Company’s condensed consolidated balance sheets. All reimbursements are expected to be paid within 12 months of the Company incurring the obligation. Upon successful completion of the development activities under the JDA, the parties will enter into good faith negotiations for a production license agreement. Products developed will be jointly commercialized by the parties. As of June 30, 2021, expenses incurred to-date by Navistar for reimbursement under the JDA are $8.0 million. Payroll Protection Program (“PPP”) Loan In April 2020, the Company received loan proceeds in the amount of $4.1 million under the Small Business Administration Paycheck Protection Program established under Section 1102 of the Coronavirus Aid, Relief and Economic Security (“CARES”) Act. In October 2020, the Company applied for forgiveness of the PPP Loan and corresponding accrued interest, which was approved by the SBA in June 2021. Post-Employment Agreements The Company has entered into post-employment agreements with former employees under which the Company is required to pay additional compensation upon the occurrence of an IPO or Sale Event (as such terms are defined in the post-employment agreements). Since the Company’s IPO, $4.3 million has been paid to said former employees and recorded within operating expenses as of June 30, 2021 pursuant to such post-employment agreements. Litigation and Legal Proceedings The Company is not currently a party to any pending material litigation or other legal proceeding or claims.

Redeemable Convertible Preferre

Redeemable Convertible Preferred Stock, Preferred Stock Warrants, and Stockholders’ Equity	6 Months Ended
	Jun. 30, 2021
Equity [Abstract]
Redeemable Convertible Preferred Stock, Preferred Stock Warrants, and Stockholders’ Equity	Note 5. Redeemable Convertible Preferred Stock, Preferred Stock Warrants, and Stockholders’ Equity Redeemable Convertible Preferred Stock In January 2021, the Company issued 4,650,999 shares of Series E redeemable convertible preferred stock at $14.14 per share for aggregate proceeds of $61.6 million, net of issuance costs of $4.1 million. The shares of Series E redeemable convertible preferred stock were accreted to redemption value immediately upon issuance and $4.1 million of accretion was recorded within additional paid-in capital within the condensed consolidated statements of redeemable convertible preferred stock and stockholders’ deficit. In February 2021, Traton exercised warrants to purchase 4,331,644 shares of Series E-2 redeemable convertible preferred stock at an exercise price of $11.31 per share, resulting in aggregate proceeds of $49.0 million. In March 2021, Navistar exercised warrants to purchase 9,477,073 shares of Series E redeemable convertible preferred stock at an exercise price of $14.14 per share, resulting in proceeds of $134.0 million. Upon the closing of the IPO, all shares of the Company’s outstanding redeemable convertible preferred stock automatically converted into 120,534,419

Stock-Based Compensation

Stock-Based Compensation	6 Months Ended
	Jun. 30, 2021
Share Based Compensation [Abstract]
Stock-Based Compensation	Note 6. Stock-Based Compensation 2017 Share Plan In April 2017, the Company adopted the 2017 Share Plan (the "2017 Plan") under which employees, directors, and consultants could be granted various forms of equity incentive compensation at the discretion of the board of directors, including stock options, restricted shares, RSUs, and SVAs. Stock options granted under the 2017 Plan have a contractual term of ten years and have varying vesting terms, but generally vest over a requisite service period of four years. The exercise price of the stock options granted may not be less than the par value of the common stock on the grant date for non-U.S. tax residents and may not be less than the fair market value of the common stock on the grant date for U.S. tax residents. Certain share options contain a performance condition and are only exercisable subject to the grantee's continuous service and the completion of an IPO. Options which contain a performance condition and for which the service condition has been satisfied are forfeited should employment terminate before the Company’s IPO. In March 2021, the Company’s board of directors approved an amendment to the 2017 Plan to increase the number of shares of common stock reserved for issuance by 2,300,000 shares, for a total of 24,267,694 shares reserved. The 2017 Plan was terminated in connection with the Company’s IPO in April 2021, and the Company will not grant any additional awards under the 2017 Plan. However, the 2017 Plan will continue to govern the terms and conditions of the outstanding awards previously granted under the 2017 Plan. 2021 Equity Incentive Plan In March 2021, the board of directors adopted the 2021 Plan, which became effective upon its approval by the board of directors, but for which no awards were eligible to be granted prior to the Company’s IPO in April 2021. The 2021 Plan provides for the grant of stock options, stock appreciation rights (“SARs”), restricted stock, and RSUs to the Company’s employees, directors, and consultants. The number of shares of the Company’s Class A common stock reserved for issuance under the 2021 Plan is 20,134,146 plus up to 19,892,067 shares of Class A common stock subject to awards under the Company’s 2017 Plan. The number of shares of Class A common stock available for issuance under the 2021 Plan will also include an annual increase on the first day of each fiscal year beginning on January 1, 2022, equal to either (i) 2.5% of the Company’s fully-diluted capitalization as of the last day of the immediately preceding fiscal year or (ii) such other amount as determined by the board of directors. Stock Options A summary of the stock option activity, including the CEO Performance Award, for the six months ended June 30, 2021 is as follows (in thousands, except share amounts, per share amounts, and years): Options Outstanding Weighted- Average Exercise Price Weighted- Average Remaining Life (Years) Aggregate Intrinsic Value Outstanding at December 31, 2020 13,295,497 $ 1.29 7.99 $ 97,986 Granted 2,665,968 $ 12.20 Exercised (60,616 ) $ 4.18 Cancelled/Forfeited (631,766 ) $ 1.19 Outstanding at June 30, 2021 15,269,083 $ 3.19 7.79 $ 1,039,124 Vested and exercisable at June 30, 2021 9,329,385 $ 0.42 6.75 $ 660,689 As of June 30, 2021, there was $85.0 million of unrecognized stock-based compensation expense related to unvested stock options, which is expected to be recognized over a weighted-average service period of 3.50 years. Upon the closing of the Company’s IPO, the Company recognized $18.8 million of stock-based compensation expense relating to stock options for which the time-based vesting condition has been satisfied or partially satisfied on that date and for which the performance condition was satisfied upon the occurrence of the IPO. The estimated grant-date fair value of the Company’s stock-based option awards was calculated using the Black-Scholes option-pricing model, based on the following assumptions: Three Months Ended Six Months Ended June 30, 2020 June 30, 2021 June 30, 2020 June 30, 2021 Risk-free interest rate 0.34% - 0.44% — 0.34% - 0.44% 0.33% - 1.04% Expected volatility 60.00% — 60.00% 50.00% Expected term (in years) 5.00 - 5.97 — 5.00 - 5.97 4.05 - 6.22 Fair value of common stock $ 2.97 — $ 2.97 $ 40.00 CEO Performance Award In March 2021, included in the stock options discussed above, the Company granted 1,150,000 stock option awards to its CEO with an exercise price of $14.14 per share and a contractual life of ten years that vest upon the attainment of both operational milestones (performance conditions) and market conditions, assuming continued employment as CEO through the vesting date (the “CEO Performance Award”). The options will vest upon certification by the Board of Directors that all the following milestones have been attained: (i) the average market capitalization of the Company during any consecutive 180-day period is no less than $25.0 billion, (ii) the average number of L4 autonomous semi-trucks operating on the Company’s Autonomous Freight Network in any 90-day period is no less than 1,500, and (iii) the Company’s revenues from its Autonomous Freight Network for any 12-month period exceed $200.0 million. As of June 30, 2021, there was a total of $29.4 million unrecognized stock-based compensation expense for the operational milestones that were considered probable to achieve which will be recognized over a period of 3.42 years. For the three and six months ended June 30, 2021, the Company recorded stock-based compensation expense of $2.1 million and $2.8 million, respectively, related to the CEO Performance Award. RSUs The following table summarizes the activity related to RSUs for the six months ended June 30, 2021: RSUs Outstanding Weighted-Average Grant Date Fair Value per Share Unvested and Outstanding at December 31, 2020 1,100,000 $ 14.14 Granted 1,855,330 $ 69.56 Vested (670,055 ) $ 15.02 Unvested and outstanding at June 30, 2021 2,285,275 $ 58.87 Vested and outstanding at June 30, 2021 670,055 $ 15.02 SVAs The following table summarizes the activity related to SVAs for the six months ended June 30, 2021: SVAs Outstanding Weighted-Average Grant Date Fair Value per Share Unvested and Outstanding at December 31, 2020 3,653,146 $ 3.20 Vested (2,894,618 ) $ 3.04 Cancelled (244,322 ) $ 5.71 Unvested and outstanding at June 30, 2021 514,206 $ 2.93 Vested and outstanding at June 30, 2021 2,894,618 $ 3.04 As of June 30, 2021, there was $130.3 million of unrecognized stock-based compensation expense related to RSUs and SVAs, which is expected to be recognized over a weighted-average service period of 3.16 years. Upon the Company’s IPO, the Company recognized $23.8 million of stock-based compensation expense relating to RSUs and SVAs for which the time-based vesting condition has been satisfied or partially satisfied on that date and for which the performance condition was satisfied upon the occurrence of the IPO. Early Exercise of Common Stock Options The Company’s board of directors authorized certain stock option holders to exercise unvested options to purchase shares of Class A common stock. Shares of Class A common stock issued upon early exercises of unvested options are not deemed, for accounting purposes, to be issued until those shares vest according to their respective vesting schedules and accordingly, the consideration received for early exercises is initially recorded as a liability and reclassified to common stock and additional paid-in capital as the underlying awards vest. Stock options that are early exercised are subject to repurchase in the event of the optionee’s termination of service, at the original issuance price, until the options are fully vested. As of June 30, 2021, 50,000 shares of Class A common stock were subject to repurchase at a weighted-average price of $4.20 per share. The cash proceeds received for unvested shares of common stock recorded within accrued expenses and other current liabilities in the condensed consolidated balance sheets were $0.2 million as of June 30, 2021. Stock-based Compensation Expense Total stock-based compensation expense was as follows (in thousands): Three Months Ended Six Months Ended June 30, 2020 June 30, 2021 June 30, 2020 June 30, 2021 Research and development $ 145 $ 25,469 $ 145 $ 27,138 Sales and marketing — 233 — 551 General and administrative 308 26,807 1,535 31,109 Total stock-based compensation expense $ 453 $ 52,509 $ 1,680 $ 58,798 Upon the Company’s IPO, a one-time stock-based compensation expense of $42.6 million was incurred for the three and six months ended June 30, 2021, relating to awards for which the time-based vesting condition has been satisfied or partially satisfied on that date and for which the performance condition was satisfied upon the occurrence of the IPO.

Income Taxes

Income Taxes	6 Months Ended
	Jun. 30, 2021
Income Tax Disclosure [Abstract]
Income Taxes	Note 7. Income Taxes Prior to February 2021, the Company was a Cayman Islands incorporated holding company. In February 2021, the Company completed a domestication pursuant to Section 388 of the Delaware General Corporation Law pursuant to which it became a Delaware corporation and was no longer subject to the laws of the Cayman Islands. Following the Domestication, the U.S. federal income tax rate is the applicable statutory rate. The Company’s interim period income tax provision is determined using the estimated annual effective income tax rate applied to year-to-date pretax losses adjusted for the tax effects of legislative changes and other discrete items that relate to the interim period. The estimated annual effective income tax rate is impacted by expected annual earnings, valuation allowances related to current year losses, income tax related to foreign operations, and state tax. The Company’s effective tax rate was zero percent for the six months ended June 30, 2021, which is lower than the U.S. federal rate of 21 percent and was primarily due to valuation allowances recorded on current year losses. As of June 30, 2021, the Company continues to maintain a full valuation allowance against its U.S. and foreign net deferred tax assets due to significant negative evidence, including cumulative losses in the most recent three-year period and the Company’s assessment that it is not more likely than not that the net deferred tax assets will be realized.

Net Loss Per Share Attributable

Net Loss Per Share Attributable to Common Stockholders	6 Months Ended
	Jun. 30, 2021
Earnings Per Share [Abstract]
Net Loss Per Share Attributable to Common Stockholders	Note 8. Net Loss Per Share Attributable to Common Stockholders Basic net loss per share of common stock attributable to common stockholders is calculated by dividing net loss attributable to common stockholders by the weighted-average shares of common stock outstanding for the period. Diluted net loss per share attributable to common stockholders is the same as basic net loss per share attributable to common stockholders for all years presented because the effects of potentially dilutive items were antidilutive given the Company’s net loss in each period presented. The following table presents the calculation of basic and diluted net loss per share attributable to common stockholders (in thousands, except share and per share amounts): Three Months Ended June 30, Six Months Ended June 30, 2020 2021 2020 2021 Numerator: Net loss $ (28,084 ) $ (116,529 ) $ (53,845 ) $ (501,689 ) Less: Accretion of redeemable convertible preferred stock — — — (4,135 ) Net loss attributable to common stockholders, basic and diluted $ (28,084 ) $ (116,529 ) $ (53,845 ) $ (505,824 ) Denominator: Weighted-average shares used in computing net loss per share, basic and diluted 57,401,912 182,382,800 57,068,132 121,800,404 Net loss per share: Net loss per share attributable to common stockholders, basic and diluted $ (0.49 ) $ (0.64 ) $ (0.94 ) $ (4.15 ) The following potentially dilutive outstanding shares were excluded from the computation of diluted net loss per share for the periods presented because including them would have had an anti-dilutive effect, or because issuance of such shares is contingent upon the satisfaction of certain conditions which were not satisfied by the end of the period: As of June 30, 2020 2021 Redeemable convertible preferred stock 74,939,388 — Options to purchase common stock 16,320,861 15,269,083 RSUs subject to future vesting 11,704 2,285,275 SVAs subject to future vesting 3,581,236 514,206 Early exercised options subject to future vesting* 1,239,513 50,000 Total 96,092,702 18,118,564 *Refer to Note 6. Stock-Based Compensation for further detail.

Related Party Transactions

Related Party Transactions	6 Months Ended
	Jun. 30, 2021
Related Party Transactions [Abstract]
Related Party Transactions	Note 9. Related Party Transactions At December 31, 2020, the Company had short-term, unsecured, interest free loans outstanding of approximately $0.6 million due to its executive chairman and approximately $3.7 million due to Jinzhuo Hengbang Technology (Beijing) Co., Ltd. (“Jinzhuo Hengbang”), an affiliated company of Sina Corporation, the ultimate parent company of one of the Company’s investors. Additionally, the Company paid a guarantee deposit of $3.7 million to Sina Corporation in connection with the loans borrowed by the Company from Jinzhuo Hengbang, which was outstanding at December 31, 2020. During the six months ended June 30, 2021, the Company paid off these loans in their entirety, and received a refund of the guarantee deposit paid to Sina Corporation.

Description of Business and S_2

Description of Business and Summary of Significant Accounting Policies (Policies)	6 Months Ended
	Jun. 30, 2021
Organization Consolidation And Presentation Of Financial Statements [Abstract]
Description of Business	Description of Business TuSimple Holdings Inc. (“TuSimple” or the “Company”) is principally engaged in the operation and development of autonomous trucks and an autonomous freight network (“AFN”). The Company is headquartered in San Diego, California. TuSimple was originally incorporated as Tusimple (Cayman) Limited, a limited liability company in the Cayman Islands, on October 25, 2016. In February 2021, the Company deregistered as a Cayman Islands exempted company and continued and domesticated as a corporation incorporated under the laws of the State of Delaware (the “Domestication”). The business, assets and liabilities of the Company and its subsidiaries on a consolidated basis, as well as its principal locations and fiscal year, were the same immediately after the Domestication as they were immediately prior to the Domestication. In addition, the directors and executive officers of the Company immediately after the Domestication were the same individuals who were directors and executive officers, respectively, of the Company immediately prior to the Domestication.
Initial Public Offering And Private Placement	Initial Public Offering and Private Placement On April 19, 2021, the Company closed its initial public offering (“IPO”) and concurrent private placement, in which it issued and sold 27,027,027 shares and 874,999 shares, respectively, of its authorized Class A common stock at $40.00 per share, resulting in net proceeds of $1.0 billion after deducting underwriting discounts and commissions of $50.1 million and offering costs. Upon closing of the IPO, (i) the Company filed an amended and restated certificate of incorporation, which authorized 4,876,000,000 shares of Class A common stock and reclassified all outstanding common stock into Class A common stock, authorized 24,000,000 shares of Class B common stock, which are not publicly traded, and authorized 100,000,000 shares of undesignated preferred stock, (ii) Xiaodi Hou and Mo Chen (the “Founders”) each exchanged 12,000,000 shares of their newly designated Class A common stock for an equivalent number of shares of Class B common stock, and (iii) all shares of the Company’s outstanding redeemable convertible preferred stock automatically converted into 120,534,419 shares of Class A common stock. The rights of the holders of Class A common stock and Class B common stock are identical, except with respect to voting, conversion, and transfer rights. The holders of our Class A common stock are entitled to one vote per share and the holders of our Class B common stock are entitled to 10 votes per share. Additionally, each share of Class B common stock will automatically convert, on a one-for-one basis, into shares of Class A common stock on the earliest of (i) the date specified by a vote of the holders of Class B common stock representing 75% of the outstanding shares of Class B common stock, (ii) the date that is between 90 days and 270 days, as determined by the board of directors, after the death or incapacitation of the last Founder to die or become incapacitated, or (iii) the date that is between 61 and 180 days, as determined by the board of directors, after the date on which the number of outstanding shares of Class B common stock held by the Founders (or their permitted affiliates) is less than 12,000,000 shares. Upon the closing of the IPO, the Company recognized $42.6 million of stock-based compensation expense related to stock options, restricted stock units (“RSUs”), and share value awards (“SVAs”), for which the time-based vesting conditions had been satisfied or partially satisfied and the performance-based conditions were satisfied upon the closing of the IPO. The Company intends to issue 3,564,673 shares of Class A common stock upon settlement of RSUs and SVAs that are vested as of June 30, 2021, which has not yet occurred as of the date of this filing. Refer to Note 6. Stock-Based Compensation for further detail. Additionally, the Company recorded $4.3 million within operating expenses to former employees in connection with post-employment agreements for which payment was contingent upon the occurrence of an IPO or Sale Event (as such terms are defined in the post-employment agreements).
Basis of Presentation and Consolidation	Basis of Presentation and Consolidation The accompanying unaudited condensed consolidated financial statements (“Financial Statements”) have been prepared in accordance with accounting principles generally accepted The condensed consolidated balance sheet as of December 31, 2020, was derived from the audited consolidated financial statements as of that date, but does not include all disclosures required by GAAP. In management’s opinion, the accompanying Financial Statements reflect all normal recurring adjustments necessary for their fair presentation. Other than described below, there have been no changes to the Company’s significant accounting policies described in the Prospectus that have had a material impact on the Company’s Financial Statements.
Stock-Based Compensation	Stock-Based Compensation The Company accounts for stock-based compensation expense in accordance with the fair value recognition and measurement provisions of GAAP, which requires compensation cost for the grant-date fair value of stock-based awards to be recognized over the requisite service period. The Company determines the fair value of stock-based awards granted or modified on the grant date (or modification date, if applicable) at fair value, using appropriate valuation techniques.
Time-Based Service Awards	Time-Based Service Awards For stock-based awards with time-based vesting conditions only, generally being stock options, the fair value of each stock award granted is estimated using the Black-Scholes option-pricing model. The Black-Scholes option-pricing model requires the input of highly subjective assumptions, including the fair value of the underlying common stock, the expected stock price volatility over the term of the award, actual and projected employee stock option exercise behaviors, the risk-free interest rate for the expected term of the award and expected dividends. Stock-based compensation is recognized straight-line over the requisite service period, which is generally four years. The Company accounts for forfeitures as they occur instead of estimating the number of awards expected to be forfeited.
Performance-Based Awards	Performance-Based Awards The Company has granted RSUs, SVAs, and stock options that vest only upon the satisfaction of both time-based service and performance-based conditions. The time-based service condition for these awards generally is satisfied over four years. The performance-based conditions, other than with respect to the CEO Performance Award discussed in Note 6. Stock Based Compensation, are satisfied upon the occurrence of a qualifying event, defined as the earlier of (i) the closing of certain specific liquidation or change in control transactions, or (ii) an IPO. The Company records stock-based compensation expense for performance-based equity awards such as RSUs, SVAs, and stock options on an accelerated attribution method over the requisite service period, which is generally three years, and only if performance-based conditions are considered probable to be satisfied. Upon completion of the IPO, the Company recorded a cumulative one-time stock-based compensation expense determined using the grant-date fair values. Stock-based compensation related to remaining time-based service after the qualifying event is recorded over the remaining requisite service period. For performance-based RSUs and SVAs, the Company determines the grant-date fair value as the fair value of the Company’s common stock on the grant date. For performance-based awards with a vesting schedule based entirely on the attainment of both performance and market conditions, stock-based compensation expense associated with each tranche is recognized over the longer of (i) the expected achievement period for the operational milestones for such tranche and (ii) the expected achievement period for the related market capitalization milestone determined on the grant date, beginning at the point in time when the relevant operational milestones are considered probable of being met. If such operational milestones become probable any time after the grant date, the Company will recognize a cumulative catch-up expense from the grant date to that point in time. If the related market capitalization milestone is achieved earlier than its expected achievement period and the achievement of the related operational milestones, then the stock-based compensation expense will be recognized over the expected achievement period for the operational milestones, which may accelerate the rate at which such expense is recognized. The fair value of such awards is estimated on the grant date using Monte Carlo simulations. Refer to Note 6. Stock Based Compensation for further information.
Reclassifications	Reclassifications Certain prior period balances have been reclassified to conform to the current period presentation in the condensed consolidated financial statements and the accompanying notes. Restricted cash has been reclassified to prepaid expenses and other current assets and accrued expenses incurred under joint development agreements have been reclassified to be presented separately from amounts due to related parties.
Recently Adopted and Issued Accounting Pronouncements	Recently Adopted Accounting Pronouncements In August 2018, the Financial Accounting Standards Board (“FASB”) issued Accounting Standards Update (“ASU”) No. 2018-15, Customer’s Accounting for Implementation Costs Incurred in a Cloud Computing Arrangement that Is a Service Contract with no material impact to the Company’s Financial Statements. In December 2019, the FASB issued ASU no. 2019-12, Income Taxes (Topic 740): Simplifying the Accounting for Income Taxes Income Taxes Recently Issued Accounting Pronouncements In February 2016, the FASB issued ASU 2016-02, Leases (Topic 842) Leases ASU 2016-02 requires, among other changes to the lease accounting guidance, lessees to recognize most leases on-balance sheet via a right-of-use asset and lease liability, and additional qualitative and quantitative disclosures. In July 2018, ASU No. 2018-10, Codification Improvements to Topic 842, Leases, was issued to provide more detailed guidance and additional clarification for implementing ASU No. 2016-02. In July 2018, the FASB issued ASU No. 2018-11, Leases (Topic 842): Targeted Improvements , which provides an optional transition method in addition to the existing modified retrospective transition method by allowing a cumulative effect adjustment to the opening balance of retained earnings in the period of adoption. Furthermore, in June 2020, the FASB issued ASU No. 2020-05, Revenue from Contracts with Customers (Topic 606) and Leases (Topic 842): Effective Dates for Certain Entities, which defers the effective date of ASU No. 2016-02 for certain entities. For the Company, the new standard is effective for annual reporting periods beginning after December 15, 2021 and for interim periods within annual periods beginning after December 15, 2022. Early adoption is permitted. Upon adoption of this standard, the Company expects to recognize, on a discounted basis, its minimum commitments under non-cancelable operating leases on the consolidated balance sheets resulting in the recording of right-of-use assets and lease obligations.

Fair Value Measurements (Tables

Fair Value Measurements (Tables)	6 Months Ended
	Jun. 30, 2021
Fair Value Disclosures [Abstract]
Schedule of Assets and Liabilities Measured at Fair Value on Recurring Basis	The following table presents the Company’s assets and liabilities that are measured at fair value on a recurring basis and indicates the fair value hierarchy of the valuation (in thousands): As of December 31, 2020 Total Level 1 Level 2 Level 3 Assets: Cash equivalents: Certificates of deposit $ 279,279 $ 279,279 $ — $ — Total $ 279,279 $ 279,279 $ — $ — Liabilities: Warrants liability $ 42,452 $ — $ — $ 42,452 Total $ 42,452 $ — $ — $ 42,452 As of June 30, 2021 Total Level 1 Level 2 Level 3 Assets: Cash equivalents: Certificates of deposit $ 7,000 $ 7,000 $ — $ — Money market funds 320,010 320,010 — — Total $ 327,010 $ 327,010 $ — $ —
Schedule of Fair Value Assumptions	The Company used the following assumptions in the model: As of December 31, 2020 February 26, 2021 March 19, 2021 Discount for lack of marketability 9.00% - 30.00% — — Fair value of underlying securities $14.14 $40.00 $40.00 Expected volatility 53.90% - 76.90% 62.95% 60.85% Expected term (in years) 0.33 - 1.91 1.76 0.79 Risk-free interest rate 0.10% - 0.13% 0.14% 0.08%
Summary of Changes in Estimated Fair Value of Warrants Liability	The following table sets forth a summary of the changes in the estimated fair value of the Company’s warrants liability (in thousands): Balance as of December 31, 2020 $ 42,452 Change in fair value of warrants 326,900 Exercises during the period (369,352 ) Balance as of June 30, 2021 $ —

Balance Sheet Components (Table

Balance Sheet Components (Tables)	6 Months Ended
	Jun. 30, 2021
Balance Sheet Related Disclosures [Abstract]
Schedule of Property and Equipment, Net	Property and equipment, net as of December 31, 2020 and June 30, 2021, was as follows (in thousands): As of December 31, 2020 June 30, 2021 Electronic equipment $ 11,429 $ 12,304 Office and other equipment 6,152 7,415 Vehicles 12,775 13,673 Leasehold improvements 7,340 9,831 Construction in progress 225 1,861 Property and equipment, gross 37,921 45,084 Accumulated depreciation and amortization (15,805 ) (19,649 ) Property and equipment, net $ 22,116 $ 25,435
Schedule of Accrued Expenses and Other Current Liabilities	Accrued expenses and other current liabilities as of December 31, 2020 and June 30, 2021 were as follows (in thousands): As of December 31, 2020 June 30, 2021 Accrued payroll $ 11,941 $ 15,599 Accrued professional fees 7,865 3,274 Other 3,155 6,249 Accrued expenses and other current liabilities $ 22,961 $ 25,122

Commitments and Contingencies (

Commitments and Contingencies (Tables)	6 Months Ended
	Jun. 30, 2021
Commitments And Contingencies Disclosure [Abstract]
Summary of Future Minimum Lease Payments for Non-cancelable Operating and Capital Leases	Future minimum lease payments for non-cancelable operating and capital leases as of June 30, 2021 are as follows (in thousands): Year Ending December 31, Capital Leases Operating Leases Remainder of 2021 $ 708 $ 3,326 2022 1,274 6,753 2023 999 6,933 2024 984 4,776 2025 1,816 3,427 Thereafter — 21,274 Total minimum lease payments $ 5,781 $ 46,489 Amount representing interest 1,585 Present value of minimum lease payments $ 4,196

Stock-Based Compensation (Table

Stock-Based Compensation (Tables)	6 Months Ended
	Jun. 30, 2021
Share Based Compensation [Abstract]
Summary of Stock Option Activities	A summary of the stock option activity, including the CEO Performance Award, for the six months ended June 30, 2021 is as follows (in thousands, except share amounts, per share amounts, and years): Options Outstanding Weighted- Average Exercise Price Weighted- Average Remaining Life (Years) Aggregate Intrinsic Value Outstanding at December 31, 2020 13,295,497 $ 1.29 7.99 $ 97,986 Granted 2,665,968 $ 12.20 Exercised (60,616 ) $ 4.18 Cancelled/Forfeited (631,766 ) $ 1.19 Outstanding at June 30, 2021 15,269,083 $ 3.19 7.79 $ 1,039,124 Vested and exercisable at June 30, 2021 9,329,385 $ 0.42 6.75 $ 660,689
Summary of Estimated Grant-date Fair Value of Company's Stock-based Option Awards	The estimated grant-date fair value of the Company’s stock-based option awards was calculated using the Black-Scholes option-pricing model, based on the following assumptions: Three Months Ended Six Months Ended June 30, 2020 June 30, 2021 June 30, 2020 June 30, 2021 Risk-free interest rate 0.34% - 0.44% — 0.34% - 0.44% 0.33% - 1.04% Expected volatility 60.00% — 60.00% 50.00% Expected term (in years) 5.00 - 5.97 — 5.00 - 5.97 4.05 - 6.22 Fair value of common stock $ 2.97 — $ 2.97 $ 40.00
Summary of Nonvested Restricted Stock Unit Awards	The following table summarizes the activity related to RSUs for the six months ended June 30, 2021: RSUs Outstanding Weighted-Average Grant Date Fair Value per Share Unvested and Outstanding at December 31, 2020 1,100,000 $ 14.14 Granted 1,855,330 $ 69.56 Vested (670,055 ) $ 15.02 Unvested and outstanding at June 30, 2021 2,285,275 $ 58.87 Vested and outstanding at June 30, 2021 670,055 $ 15.02
Summary of Nonvested Shareholder Value Awards Activity	The following table summarizes the activity related to SVAs for the six months ended June 30, 2021: SVAs Outstanding Weighted-Average Grant Date Fair Value per Share Unvested and Outstanding at December 31, 2020 3,653,146 $ 3.20 Vested (2,894,618 ) $ 3.04 Cancelled (244,322 ) $ 5.71 Unvested and outstanding at June 30, 2021 514,206 $ 2.93 Vested and outstanding at June 30, 2021 2,894,618 $ 3.04
Summary of Total Stock-based Compensation Expense	Total stock-based compensation expense was as follows (in thousands): Three Months Ended Six Months Ended June 30, 2020 June 30, 2021 June 30, 2020 June 30, 2021 Research and development $ 145 $ 25,469 $ 145 $ 27,138 Sales and marketing — 233 — 551 General and administrative 308 26,807 1,535 31,109 Total stock-based compensation expense $ 453 $ 52,509 $ 1,680 $ 58,798

Net Loss Per Share Attributab_2

Net Loss Per Share Attributable to Common Stockholders (Tables)	6 Months Ended
	Jun. 30, 2021
Earnings Per Share [Abstract]
Summary of Calculation of Basic and Diluted Net Loss Per Share Attributable to Common Stockholders	The following table presents the calculation of basic and diluted net loss per share attributable to common stockholders (in thousands, except share and per share amounts): Three Months Ended June 30, Six Months Ended June 30, 2020 2021 2020 2021 Numerator: Net loss $ (28,084 ) $ (116,529 ) $ (53,845 ) $ (501,689 ) Less: Accretion of redeemable convertible preferred stock — — — (4,135 ) Net loss attributable to common stockholders, basic and diluted $ (28,084 ) $ (116,529 ) $ (53,845 ) $ (505,824 ) Denominator: Weighted-average shares used in computing net loss per share, basic and diluted 57,401,912 182,382,800 57,068,132 121,800,404 Net loss per share: Net loss per share attributable to common stockholders, basic and diluted $ (0.49 ) $ (0.64 ) $ (0.94 ) $ (4.15 )
Schedule of Antidilutive Securities Excluded from Computation of Earnings Per Share	The following potentially dilutive outstanding shares were excluded from the computation of diluted net loss per share for the periods presented because including them would have had an anti-dilutive effect, or because issuance of such shares is contingent upon the satisfaction of certain conditions which were not satisfied by the end of the period: As of June 30, 2020 2021 Redeemable convertible preferred stock 74,939,388 — Options to purchase common stock 16,320,861 15,269,083 RSUs subject to future vesting 11,704 2,285,275 SVAs subject to future vesting 3,581,236 514,206 Early exercised options subject to future vesting* 1,239,513 50,000 Total 96,092,702 18,118,564

Description of Business and S_3

Description of Business and Summary of Significant Accounting Policies - Additional Information (Details) $ / shares in Units, $ in Thousands	Apr. 19, 2021USD ($)d$ / sharesshares	Jun. 30, 2021USD ($)shares	Jun. 30, 2020USD ($)	Jun. 30, 2021USD ($)shares	Jun. 30, 2020USD ($)	Dec. 31, 2020shares
Description Of Business And Summary Of Significant Accounting Policies Disclosure [Line Items]
Total stock-based compensation expense | $		$ 52,509	$ 453	$ 58,798	$ 1,680
ASU 2018-15
Description Of Business And Summary Of Significant Accounting Policies Disclosure [Line Items]
Change in accounting principle, accounting standards update, adopted		true		true
Change in accounting principle, accounting standards update, adoption date		Jan. 1, 2021		Jan. 1, 2021
Change in accounting principle, accounting standards update, immaterial effect		true		true
ASU 2019-12
Description Of Business And Summary Of Significant Accounting Policies Disclosure [Line Items]
Change in accounting principle, accounting standards update, adopted		true		true
Change in accounting principle, accounting standards update, adoption date		Jan. 1, 2021		Jan. 1, 2021
Change in accounting principle, accounting standards update, immaterial effect		true		true
Time Based Service Awards
Description Of Business And Summary Of Significant Accounting Policies Disclosure [Line Items]
Share based compensation, option vesting period				4 years
Performance Based Awards
Description Of Business And Summary Of Significant Accounting Policies Disclosure [Line Items]
Share based compensation, option vesting period				4 years
Common Class A
Description Of Business And Summary Of Significant Accounting Policies Disclosure [Line Items]
Common stock, shares authorized		4,876,000,000		4,876,000,000		361,897,230
Common Class B
Description Of Business And Summary Of Significant Accounting Policies Disclosure [Line Items]
Common stock, shares authorized		24,000,000		24,000,000		0
Initial Public Offering
Description Of Business And Summary Of Significant Accounting Policies Disclosure [Line Items]
Preferred stock, authorized	100,000,000
Number of redeemable convertible preferred stock converted	120,534,419
Total stock-based compensation expense | $	$ 42,600	$ 42,600		$ 42,600
Initial Public Offering | Performance Based Awards
Description Of Business And Summary Of Significant Accounting Policies Disclosure [Line Items]
Share based compensation, option vesting period				3 years
Initial Public Offering | Former Employees
Description Of Business And Summary Of Significant Accounting Policies Disclosure [Line Items]
Total stock-based compensation expense | $	$ 4,300
Initial Public Offering | Common Class A
Description Of Business And Summary Of Significant Accounting Policies Disclosure [Line Items]
Number of shares issued and sold	27,027,027
Price per share | $ / shares	$ 40
Net proceeds after deducting underwriting discounts and commissions and offering costs | $	$ 1,000,000
Underwriting discounts and commissions | $	$ 50,100
Common stock, shares authorized	4,876,000,000
Number of redeemable convertible preferred stock converted	120,534,419
Common stock, voting rights	The holders of our Class A common stock are entitled to one vote per share
Issuance of common stock in connection with initial public offering , net of offering costs and private placement, shares				3,564,673
Initial Public Offering | Common Class A | Founders
Description Of Business And Summary Of Significant Accounting Policies Disclosure [Line Items]
Common stock, shares exchanged into Class B common stock	12,000,000
Initial Public Offering | Common Class B
Description Of Business And Summary Of Significant Accounting Policies Disclosure [Line Items]
Common stock, shares authorized	24,000,000
Common stock, voting rights	the holders of our Class B common stock are entitled to 10 votes per share.
Percentage of outstanding shares threshold	75.00%
Initial Public Offering | Common Class B | Founders
Description Of Business And Summary Of Significant Accounting Policies Disclosure [Line Items]
Maximum stock conversion outstanding shares threshold	12,000,000
Initial Public Offering | Common Class B | Founders | Minimum
Description Of Business And Summary Of Significant Accounting Policies Disclosure [Line Items]
Stock conversion threshold days | d	61
Initial Public Offering | Common Class B | Founders | Maximum
Description Of Business And Summary Of Significant Accounting Policies Disclosure [Line Items]
Stock conversion threshold days | d	180
Initial Public Offering | Common Class B | Death or Incapacitation of Last Founder | Minimum
Description Of Business And Summary Of Significant Accounting Policies Disclosure [Line Items]
Stock conversion threshold days | d	90
Initial Public Offering | Common Class B | Death or Incapacitation of Last Founder | Maximum
Description Of Business And Summary Of Significant Accounting Policies Disclosure [Line Items]
Stock conversion threshold days | d	270
Private Placement | Common Class A
Description Of Business And Summary Of Significant Accounting Policies Disclosure [Line Items]
Number of shares issued and sold	874,999

Fair Value Measurements - Asset

Fair Value Measurements - Assets and Liabilities Measured at Fair Value on Recurring Basis (Details) - Recurring Basis - USD ($) $ in Thousands	Jun. 30, 2021	Dec. 31, 2020
Assets:
Total	$ 327,010	$ 279,279
Liabilities:
Total		42,452
Warrants Liability
Liabilities:
Total		42,452
Level 1
Assets:
Total	327,010	279,279
Level 3
Liabilities:
Total		42,452
Level 3 | Warrants Liability
Liabilities:
Total		42,452
Certificates of Deposit
Assets:
Total	7,000	279,279
Certificates of Deposit | Level 1
Assets:
Total	7,000	$ 279,279
Money market funds
Assets:
Total	320,010
Money market funds | Level 1
Assets:
Total	$ 320,010

Fair Value Measurements - Addit

Fair Value Measurements - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	1 Months Ended		6 Months Ended
	Mar. 31, 2021	Feb. 28, 2021	Jun. 30, 2021
Fair Value Measurements [Line Items]
Proceeds from warrant exercises			$ 183,007
Warrants outstanding			0
Series E-2 Preferred Shares | Traton
Fair Value Measurements [Line Items]
Warrants to purchase preferred stock		4,331,644
Exercise price per share		$ 11.31
Proceeds from warrant exercises		$ 49,000
Series E Redeemable Convertible Preferred Stock | Navistar, Inc.
Fair Value Measurements [Line Items]
Warrants to purchase preferred stock	9,477,073
Exercise price per share	$ 14.14
Proceeds from warrant exercises	$ 134,000

Fair Value Measurements - Sched

Fair Value Measurements - Schedule of Fair Value Assumptions (Details)	Mar. 19, 2021$ / shares	Feb. 26, 2021$ / shares	Dec. 31, 2020$ / shares
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Fair value of underlying securities	$ 40	$ 40	$ 14.14
Discount for Lack of Marketability | Minimum
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Measurement input			9
Discount for Lack of Marketability | Maximum
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Measurement input			30
Expected Volatility
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Measurement input	60.85	62.95
Expected Volatility | Minimum
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Measurement input			53.90
Expected Volatility | Maximum
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Measurement input			76.90
Expected Term
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Expected term (in years)	9 months 14 days	1 year 9 months 3 days
Expected Term | Minimum
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Expected term (in years)			3 months 29 days
Expected Term | Maximum
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Expected term (in years)			1 year 10 months 28 days
Risk-Free Interest Rate
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Measurement input	0.08	0.14
Risk-Free Interest Rate | Minimum
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Measurement input			0.10
Risk-Free Interest Rate | Maximum
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis Valuation Techniques [Line Items]
Measurement input			0.13

Fair Value Measurements - Summa

Fair Value Measurements - Summary of Changes in Estimated Fair Value of Warrants Liability (Details) $ in Thousands	6 Months Ended
	Jun. 30, 2021USD ($)
Fair Value Disclosures [Abstract]
Balance as of December 31, 2020	$ 42,452
Change in fair value of warrants liability	326,900
Exercises during the period	$ (369,352)

Balance Sheet Components - Sche

Balance Sheet Components - Schedule of Property and Equipment, Net (Details) - USD ($) $ in Thousands	Jun. 30, 2021	Dec. 31, 2020
Property Plant And Equipment [Line Items]
Property and equipment, gross	$ 45,084	$ 37,921
Accumulated depreciation and amortization	(19,649)	(15,805)
Property and equipment, net	25,435	22,116
Electronic Equipment
Property Plant And Equipment [Line Items]
Property and equipment, gross	12,304	11,429
Office and Other Equipment
Property Plant And Equipment [Line Items]
Property and equipment, gross	7,415	6,152
Vehicles
Property Plant And Equipment [Line Items]
Property and equipment, gross	13,673	12,775
Leasehold Improvements
Property Plant And Equipment [Line Items]
Property and equipment, gross	9,831	7,340
Construction in Progress
Property Plant And Equipment [Line Items]
Property and equipment, gross	$ 1,861	$ 225

Balance Sheet Components - Addi

Balance Sheet Components - Additional Information (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020	Dec. 31, 2020
Property Plant And Equipment [Line Items]
Depreciation and amortization	$ 2,300	$ 1,800	$ 4,409	$ 3,756
Property and equipment, net	25,435		25,435		$ 22,116
Accumulated amortization	19,649		19,649		15,805
Financed under Capital Leases
Property Plant And Equipment [Line Items]
Property and equipment, net	4,600		4,600		4,600
Accumulated amortization	$ 2,100		$ 2,100		$ 1,800

Balance Sheet Components - Sc_2

Balance Sheet Components - Schedule of Accrued Expenses and Other Current Liabilities (Details) - USD ($) $ in Thousands	Jun. 30, 2021	Dec. 31, 2020
Balance Sheet Related Disclosures [Abstract]
Accrued payroll	$ 15,599	$ 11,941
Accrued professional fees	3,274	7,865
Other	6,249	3,155
Accrued expenses and other current liabilities	$ 25,122	$ 22,961

Commitment and Contingencies -

Commitment and Contingencies - Additional Information (Details) - USD ($)	Apr. 19, 2021	Jul. 31, 2020	Apr. 30, 2020	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021
Commitments And Contingencies [Line Items]
Noncancelable operating leases expiration year						2033
Rental expenses				$ 1,500,000	$ 1,300,000	$ 2,700,000	$ 2,400,000
Research and development expense incurred				75,891,000	21,979,000	117,325,000	40,161,000
Proceeds from loans							4,134,000
Total stock-based compensation expense				52,509,000	$ 453,000	58,798,000	$ 1,680,000
Initial Public Offering
Commitments And Contingencies [Line Items]
Total stock-based compensation expense	$ 42,600,000			$ 42,600,000		42,600,000
Former Employees | Initial Public Offering
Commitments And Contingencies [Line Items]
Total stock-based compensation expense	$ 4,300,000
Paycheck Protection Program Loan
Commitments And Contingencies [Line Items]
Proceeds from loans			$ 4,100,000
JDA | Navistar, Inc.
Commitments And Contingencies [Line Items]
Research and development expense incurred								$ 8,000,000
JDA | Navistar, Inc. | Maximum
Commitments And Contingencies [Line Items]
Research and development expenses reimbursement		$ 10,000,000
Post Employment Agreements | Former Employees | Initial Public Offering
Commitments And Contingencies [Line Items]
Total stock-based compensation expense						$ 4,300,000

Commitment and Contingencies _2

Commitment and Contingencies - Summary of Future Minimum Lease Payments for Non-cancelable Operating and Capital Leases (Details) $ in Thousands	Jun. 30, 2021USD ($)
Capital Leases
Remainder of 2021	$ 708
2022	1,274
2023	999
2024	984
2025	1,816
Total minimum lease payments	5,781
Amount representing interest	1,585
Present value of minimum lease payments	4,196
Operating Leases
Remainder of 2021	3,326
2022	6,753
2023	6,933
2024	4,776
2025	3,427
Thereafter	21,274
Total minimum lease payments	$ 46,489

Redeemable Convertible Prefer_2

Redeemable Convertible Preferred Stock, Preferred Stock Warrants, and Stockholders' Equity - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	Apr. 19, 2021	Mar. 31, 2021	Feb. 28, 2021	Jan. 31, 2021	Mar. 31, 2021	Jun. 30, 2021	Dec. 31, 2020	Jun. 30, 2020	Mar. 31, 2020	Dec. 31, 2019
Schedule Of Capitalization Equity [Line Items]
Redeemable convertible preferred stock, shares issued						0	102,074,703
Redeemable convertible preferred stock, par value						$ 0.0001	$ 0.0001
Proceeds from warrant exercises						$ 183,007
Redeemable convertible preferred stock, shares outstanding						0	102,074,703
Initial Public Offering
Schedule Of Capitalization Equity [Line Items]
Number of redeemable convertible preferred stock converted	120,534,419
Series E Redeemable Convertible Preferred Stock
Schedule Of Capitalization Equity [Line Items]
Redeemable convertible preferred stock, shares issued				4,650,999
Redeemable convertible preferred stock, par value				$ 14.14
Proceeds from Issuance of convertible preferred stock, net of issuance costs				$ 61,600
Stock issuance costs				4,100
Temporary equity accretion to redemption value				$ 4,100
Series E Redeemable Convertible Preferred Stock | Navistar, Inc.
Schedule Of Capitalization Equity [Line Items]
Warrants to purchase preferred stock		9,477,073			9,477,073
Exercise price per share		$ 14.14			$ 14.14
Proceeds from warrant exercises		$ 134,000
Series E-2 Redeemable Convertible Preferred Stock | Traton
Schedule Of Capitalization Equity [Line Items]
Warrants to purchase preferred stock			4,331,644
Exercise price per share			$ 11.31
Proceeds from warrant exercises			$ 49,000
Redeemable Convertible Preferred Stock
Schedule Of Capitalization Equity [Line Items]
Temporary equity accretion to redemption value					$ 4,135
Redeemable convertible preferred stock, shares outstanding		120,534,419			120,534,419		102,074,703	74,939,388	74,939,388	74,939,388
Redeemable Convertible Preferred Stock | Initial Public Offering
Schedule Of Capitalization Equity [Line Items]
Redeemable convertible preferred stock, shares issued						0
Redeemable convertible preferred stock, shares outstanding						0

Stock-Based Compensation - Addi

Stock-Based Compensation - Additional Information (Details)	Apr. 19, 2021USD ($)	Mar. 31, 2021USD ($)semi-truck$ / sharesshares	Apr. 30, 2017	Jun. 30, 2021USD ($)	Jun. 30, 2020USD ($)	Jun. 30, 2021USD ($)$ / sharesshares	Jun. 30, 2020USD ($)	Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation						$ 58,798,000	$ 1,680,000
Cash proceeds received for unvested shares of common stock						200,000
Total stock-based compensation expense				$ 52,509,000	$ 453,000	58,798,000	$ 1,680,000
Initial Public Offering
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Total stock-based compensation expense	$ 42,600,000			42,600,000		42,600,000
Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized share-based compensation expense				85,000,000		$ 85,000,000
Unrecognized share-based compensation expense, weighted-average service period						3 years 6 months
Stock-based compensation	$ 18,800,000
Stock options exercise price | $ / shares						$ 12.20
Stock options contractual life						7 years 9 months 14 days		7 years 11 months 26 days
CEO Performance Award | CEO
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized share-based compensation expense				29,400,000		$ 29,400,000
Unrecognized share-based compensation expense, weighted-average service period						3 years 5 months 1 day
Stock-based compensation				2,100,000		$ 2,800,000
Stock options granted | shares		1,150,000
Stock options exercise price | $ / shares		$ 14.14
Stock options contractual life		10 years
Option vesting rights						The options will vest upon certification by the Board of Directors that all the following milestones have been attained: (i) the average market capitalization of the Company during any consecutive 180-day period is no less than $25.0 billion, (ii) the average number of L4 autonomous semi-trucks operating on the Company’s Autonomous Freight Network in any 90-day period is no less than 1,500, and (iii) the Company’s revenues from its Autonomous Freight Network for any 12-month period exceed $200.0 million.
Minimum average market capitalization		$ 25,000,000,000
Minimum number of semi-trucks operating on its Autonomous Freight Network | semi-truck		1,500
Annual revenue		$ 200,000,000
RSUs and SVAs
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized share-based compensation expense, weighted-average service period						3 years 1 month 28 days
Stock-based compensation						$ 23,800,000
Unrecognized share-based compensation expense				$ 130,300,000		$ 130,300,000
Class A Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock subject to repurchase | shares						50,000
Common stock subject to repurchase at weighted average price per share | $ / shares						$ 4.20
2017 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share based compensation, option expiry period			10 years
Share based compensation, option vesting period			4 years
Additional common stock reserved for issuance (in shares) | shares		2,300,000
Common stock reserved and authorized (in shares) | shares		24,267,694
2017 Plan | Class A Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock reserved for issuance | shares		19,892,067
2021 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Percentage of fully-diluted capitalization on last day of preceding fiscal year		2.50%
2021 Plan | Class A Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock reserved for issuance | shares		20,134,146

Stock-Based Compensation - Summ

Stock-Based Compensation - Summary of Stock Option Activity (Details) - Stock Options - USD ($) $ / shares in Units, $ in Thousands	6 Months Ended	12 Months Ended
	Jun. 30, 2021	Dec. 31, 2020
Options Outstanding
Outstanding, beginning of period	13,295,497
Granted	2,665,968
Exercised	(60,616)
Cancelled/Forfeited	(631,766)
Outstanding, end of period	15,269,083	13,295,497
Vested and exercisable at June 30, 2021	9,329,385
Weighted-Average Exercise Price
Outstanding, beginning of period	$ 1.29
Granted	12.20
Exercised	4.18
Cancelled/Forfeited	1.19
Outstanding, end of period	3.19	$ 1.29
Vested and exercisable at June 30, 2021	$ 0.42
Weighted-Average Remaining Life (Years)
Outstanding	7 years 9 months 14 days	7 years 11 months 26 days
Vested and exercisable at June 30, 2021	6 years 9 months
Aggregate Intrinsic Value
Outstanding	$ 1,039,124	$ 97,986
Vested and exercisable at June 30, 2021	$ 660,689

Stock-Based Compensation - Su_2

Stock-Based Compensation - Summary of Estimated Grant-date Fair Value of Company's Stock-based Option Awards (Details) - Stock Options - $ / shares	3 Months Ended	6 Months Ended
	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Risk-free interest rate minimum	0.34%	0.33%	0.34%
Risk-free interest rate maximum	0.44%	1.04%	0.44%
Expected volatility	60.00%	50.00%	60.00%
Fair value of common stock	$ 2.97	$ 40	$ 2.97
Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected term (in years)	5 years	4 years 18 days	5 years
Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected term (in years)	5 years 11 months 19 days	6 years 2 months 19 days	5 years 11 months 19 days

Stock-Based Compensation - Su_3

Stock-Based Compensation - Summary of Nonvested Restricted Stock Unit Awards (Details) - Restricted Stock Units (RSUs)	6 Months Ended
	Jun. 30, 2021$ / sharesshares
RSUs Outstanding
Unvested and Outstanding at December 31, 2020 | shares	1,100,000
Granted | shares	1,855,330
Vested | shares	(670,055)
Unvested and outstanding at June 30, 2021 | shares	2,285,275
Vested and outstanding at June 30, 2021 | shares	670,055
Weighted-Average Grant Date Fair Value per Share
Unvested and Outstanding at December 31, 2020 | $ / shares	$ 14.14
Granted | $ / shares	69.56
Vested | $ / shares	15.02
Unvested and outstanding at June 30, 2021 | $ / shares	58.87
Vested and outstanding at June 30, 2021 | $ / shares	$ 15.02

Stock-Based Compensation - Su_4

Stock-Based Compensation - Summary of Nonvested Shareholder Value Awards Activity (Details) - Shareholder Value Awards (SVAs)	6 Months Ended
	Jun. 30, 2021$ / sharesshares
SVAs Outstanding
Unvested and Outstanding at December 31, 2020 | shares	3,653,146
Vested | shares	(2,894,618)
Cancelled | shares	(244,322)
Unvested and outstanding at June 30, 2021 | shares	514,206
Vested and outstanding at June 30, 2021 | shares	2,894,618
Weighted-Average Grant Date Fair Value per Share
Unvested and Outstanding at December 31, 2020 | $ / shares	$ 3.20
Vested | $ / shares	3.04
Cancelled | $ / shares	5.71
Unvested and outstanding at June 30, 2021 | $ / shares	2.93
Vested and outstanding at June 30, 2021 | $ / shares	$ 3.04

Stock-Based Compensation - Su_5

Stock-Based Compensation - Summary of Total Stock-based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]
Total stock-based compensation expense	$ 52,509	$ 453	$ 58,798	$ 1,680
Research and Development
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]
Total stock-based compensation expense	25,469	145	27,138	145
Sales and Marketing
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]
Total stock-based compensation expense	233		551
General and Administrative
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]
Total stock-based compensation expense	$ 26,807	$ 308	$ 31,109	$ 1,535

Income Taxes - Additional Infor

Income Taxes - Additional Information (Details)	6 Months Ended
	Jun. 30, 2021
Income Tax Disclosure [Abstract]
Effective tax rate	0.00%
Effective income tax U.S. federal rate	21.00%

Net Loss Per Share Attributab_3

Net Loss Per Share Attributable to Common Stockholders - Summary of Calculation of Basic and Diluted Net Loss Per Share Attributable to Common Stockholders (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020	Jun. 30, 2021	Jun. 30, 2020
Numerator:
Net loss	$ (116,529)	$ (28,084)	$ (501,689)	$ (53,845)
Less: Accretion of redeemable convertible preferred stock			(4,135)
Net loss attributable to common stockholders, basic and diluted	$ (116,529)	$ (28,084)	$ (505,824)	$ (53,845)
Denominator:
Weighted-average shares used in computing net loss per share attributable to common stockholders, basic and diluted	182,382,800	57,401,912	121,800,404	57,068,132
Net loss per share:
Net loss per share attributable to common stockholders, basic and diluted	$ (0.64)	$ (0.49)	$ (4.15)	$ (0.94)

Net Loss Per Share Attributab_4

Net Loss Per Share Attributable to Common Stockholders - Schedule of Antidilutive Securities Excluded from Computation of Earnings Per Share (Details) - shares	6 Months Ended
	Jun. 30, 2021	Jun. 30, 2020
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Antidilutive securities excluded from computation of earnings per share	18,118,564	96,092,702
Redeemable Convertible Preferred Stock
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Antidilutive securities excluded from computation of earnings per share		74,939,388
Options to Purchase Common Stock
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Antidilutive securities excluded from computation of earnings per share	15,269,083	16,320,861
RSUs Subject to Future Vesting
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Antidilutive securities excluded from computation of earnings per share	2,285,275	11,704
SVAs Subject to Future Vesting
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Antidilutive securities excluded from computation of earnings per share	514,206	3,581,236
Early Exercised Options Subject to Future Vesting
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]
Antidilutive securities excluded from computation of earnings per share	50,000	1,239,513

Related Party Transactions - Ad

Related Party Transactions - Additional Information (Details) $ in Thousands	Dec. 31, 2020USD ($)
Related Party Transaction [Line Items]
Amounts due to related parties	$ 4,360
Executive Chairman And Director
Related Party Transaction [Line Items]
Outstanding loans	600
Jinzhuo Hengbang Technology (Beijing) Co., Ltd.
Related Party Transaction [Line Items]
Amounts due to related parties	3,700
Sina Corporation
Related Party Transaction [Line Items]
Payments of guarantee deposit on loan borrowed	$ 3,700