Markforged Holding Corporation Annual report pursuant to Section 13 and 15(d)

Common Stock and Stockholders' Equity - Summary of Common Stock Reserved for Future Issuance (Detail) - shares	Dec. 31, 2023	Dec. 31, 2022
Schedule Of Convertible Preferred Stock [Line Items]
Total shares of authorized common stock reserved for future issuance	71,658,479	64,015,895
Common stock options outstanding and unvested RSU [Member]
Schedule Of Convertible Preferred Stock [Line Items]
Total shares of authorized common stock reserved for future issuance	26,199,449	22,962,929
Shares available for issuance under the 2021 plan [Member]
Schedule Of Convertible Preferred Stock [Line Items]
Total shares of authorized common stock reserved for future issuance	27,028,491	24,568,036
Common stock warrants outstanding [Member]
Schedule Of Convertible Preferred Stock [Line Items]
Total shares of authorized common stock reserved for future issuance	8,525,000	8,525,000
Shares available for issuance as Earnout RSU [Member]
Schedule Of Convertible Preferred Stock [Line Items]
Total shares of authorized common stock reserved for future issuance	1,400,000	1,400,000
Employee stock purchase plan [Member]
Schedule Of Convertible Preferred Stock [Line Items]
Total shares of authorized common stock reserved for future issuance	8,505,539	6,559,930