A lidar system includes a light source to generate a frequency modulated continuous wave (FMCW) signal, and a waveguide splitter to split the FMCW signal into an output signal and a local oscillator (LO) signal. A transmit coupler provides the output signal for transmission. A receive lens obtains a received signal resulting from reflection of the output signal by a target. A waveguide coupler combines the received signal and the LO signal into a first combined signal and a second combined signal. A first phase modulator and second phase modulator respectively adjust a phase of the first combined signal and the second combined signal to provide a first phase modulated signal and a second phase modulated signal to a first photodetector and a second photodetector. A processor processes a first electrical signal and a second electrical signal from the first and second photodetectors to obtain information about the target.