| Document and Entity Information | Mar. 24, 2023 |
| Document And Entity Information [Line Items] | |
| Amendment Flag | false |
| Entity Central Index Key | 0001824734 |
| Document Type | 8-K |
| Document Period End Date | Mar. 24, 2023 |
| Entity Registrant Name | Berkshire Grey, Inc. |
| Entity Incorporation State Country Code | DE |
| Entity File Number | 001-39768 |
| Entity Tax Identification Number | 85-2994421 |
| Entity Address, Address Line One | 140 South Road |
| Entity Address, City or Town | Bedford |
| Entity Address, State or Province | MA |
| Entity Address, Postal Zip Code | 01730 |
| City Area Code | 833 |
| Local Phone Number | 848-9900 |
| Written Communications | false |
| Soliciting Material | true |
| Pre Commencement Tender Offer | false |
| Pre Commencement Issuer Tender Offer | false |
| Entity Emerging Growth Company | true |
| Entity Ex Transition Period | false |
| Common Class A [Member] | |
| Document And Entity Information [Line Items] | |
| Security 12b Title | Class A Common Stock |
| Trading Symbol | BGRY |
| Security Exchange Name | NASDAQ |
| Redeemable Warrants [Member] | |
| Document And Entity Information [Line Items] | |
| Security 12b Title | Redeemable Warrants |
| Trading Symbol | BGRYW |
| Security Exchange Name | NASDAQ |
