| Cover | Aug. 18, 2023 |
| Document Information [Line Items] | |
| Document Type | 8-K |
| Document Period End Date | Aug. 18, 2023 |
| Entity Registrant Name | Velo3D, Inc. |
| Entity Incorporation, State or Country Code | DE |
| Entity File Number | 001-39757 |
| Entity Tax Identification Number | 98-1556965 |
| Entity Address, Address Line One | 511 Division Street |
| Entity Address, Postal Zip Code | 95008 |
| Entity Address, State or Province | CA |
| Entity Address, City or Town | Campbell, |
| City Area Code | (408) |
| Local Phone Number | 610-3915 |
| Written Communications | false |
| Soliciting Material | false |
| Pre-commencement Tender Offer | false |
| Pre-commencement Issuer Tender Offer | false |
| Entity Emerging Growth Company | true |
| Entity Ex Transition Period | false |
| Entity Central Index Key | 0001825079 |
| Amendment Flag | false |
| Common Stock [Member] | |
| Document Information [Line Items] | |
| Title of 12(b) Security | Common stock, par value $0.00001 per share |
| Trading Symbol | VLD |
| Security Exchange Name | NYSE |
| Warrant [Member] | |
| Document Information [Line Items] | |
| Title of 12(b) Security | Warrants to purchase one share of common stock, each at an exercise price of $11.50 per share |
| Trading Symbol | VLD WS |
| Security Exchange Name | NYSE |
