In one embodiment, a lidar system includes a wavelength-tunable light source configured to emit pulses of light, each emitted pulse of light having a particular wavelength of multiple different wavelengths. The lidar system also includes a scanner configured to scan the emitted pulses of light across a field of regard of the lidar system. The scanner includes (i) a beam deflector configured to angularly deflect each emitted pulse of light along a first scan axis according to the particular wavelength of the emitted pulse of light and (ii) a scan mirror configured to scan the emitted pulses of light along a second scan axis different from the first scan axis. The lidar system further includes a receiver configured to detect a received pulse of light that includes a portion of one of the emitted pulses of light scattered by a target located a distance from the lidar system.