A differential absorption lidar includes: a light signal generation unit for generating first, second CW light signals with first, second wavelengths having different absorption coefficients with respect to a target, a light intensity modulation unit for subjecting the first, second CW light signal to intensity modulation with a first, second CW modulation signal having a first, second frequency in a baseband, a radiation unit for multiplexing the first, second CW light signals with the intensity modulated, forming the multiplexed light signals with two wavelengths in a predetermined beam size, and radiating the light signals, a reception unit for directly detecting scattered light from the target and converting the scattered light into an electrical signal, and a signal processing unit for extracting only the first, second frequency components from the electric signal, and detecting the concentration of the target from a difference in an amplitude of time wavelengths between two signals.