Annual report pursuant to Section 13 and 15(d)

Cover Page

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Cover Page - USD ($)
 12 Months Ended
Dec. 31, 2023
May 14, 2024
Jun. 30, 2023
Document Information [Line Items]      
Document Type 10-K/A    
Document Annual Report true    
Document Period End Date Dec. 31, 2023    
Current Fiscal Year End Date --12-31    
Document Transition Report false    
Entity File Number 001-40216    
Entity Registrant Name Aurora Innovation, Inc.    
Entity Incorporation, State or Country Code DE    
Entity Tax Identification Number 98-1562265    
Entity Address, Address Line One 1654 Smallman St.    
Entity Address, City or Town Pittsburgh    
Entity Address, State or Province PA    
Entity Address, Postal Zip Code 15222    
City Area Code 888    
Local Phone Number 583-9506    
Entity Well-known Seasoned Issuer No    
Entity Voluntary Filers No    
Entity Current Reporting Status Yes    
Entity Interactive Data Current Yes    
Entity Filer Category Large Accelerated Filer    
Entity Small Business false    
Entity Emerging Growth Company false    
ICFR Auditor Attestation Flag true    
Document Financial Statement Error Correction false    
Entity Shell Company false    
Entity Public Float     $ 1,228,710,507
Documents Incorporated by Reference
Part III of this Annual Report on Form 10-K/A incorporates by reference information from certain portions of the Registrant’s definitive proxy statement filed with the U.S. Securities and Exchange Commission on April 5, 2024.
    
Entity Central Index Key 0001828108    
Document Fiscal Year Focus 2023    
Document Fiscal Period Focus FY    
Amendment Flag false    
Common Class A      
Document Information [Line Items]      
Title of 12(b) Security Class A common stock, par value $0.00001 per share    
Trading Symbol AUR    
Security Exchange Name NASDAQ    
Entity Common Stock, Shares Outstanding   1,185,656,272  
Warrant      
Document Information [Line Items]      
Title of 12(b) Security Redeemable warrants, each whole warrant exercisable for one share of Class A common stock at an exercise price of $11.50    
Trading Symbol AUROW    
Security Exchange Name NASDAQ    
Common Class B      
Document Information [Line Items]      
Entity Common Stock, Shares Outstanding   366,869,709