Velo3D, Inc. Annual report pursuant to Section 13 and 15(d)

Equity Instruments - Common Stock Reserved for Issuance (Details) - USD ($)	1 Months Ended
	Feb. 28, 2023	Dec. 31, 2023	Mar. 10, 2023	Dec. 31, 2022	Mar. 31, 2022	Dec. 31, 2021
Class of Stock [Line Items]
Total shares of common stock reserved		77,183,168		39,501,895
ATM Sales Agreement
Class of Stock [Line Items]
Total shares of common stock reserved		20,000,000
Value of Shares Sold, May Offer and Sell up to	$ 40,000,000
2021 EIP
Class of Stock [Line Items]
Total shares of common stock reserved		49,224,879	9,378,068	42,766,043	9,161,624
2021 Employee Stock Purchase Plan
Class of Stock [Line Items]
Total shares of common stock reserved		1,875,613
Common stock warrants
Class of Stock [Line Items]
Total shares of common stock reserved		50,945,000		13,145,000
Shares available for future grant under 2021 Equity Incentive Plan \| 2021 Stock Option Plan
Class of Stock [Line Items]
Total shares of common stock reserved		16,041,013		20,861,294
Reserved for At-the-Market offering
Class of Stock [Line Items]
Total shares of common stock reserved		2,825,941		0
Reserved for employee stock purchase plan
Class of Stock [Line Items]
Total shares of common stock reserved		7,371,214		5,495,601	1,832,324	3,663,277