Rivian, which has raised another $2.65 billion, plans to sell a pickup truck and S.U.V. it has worked on for more than a decade.
The milestone seemed unreachable just three years ago and comes as Tesla has seen a string of profitable quarters and a buoyant stock.
As Tesla completes a factory in Berlin, Mercedes-Benz and Audi are introducing electric cars in bids to defend their dominance of the luxury market.
Investors are betting that small companies like Workhorse will help popularize electric commercial vehicles. And Tesla aims to extend its reach.
Mr. Musk said on Tuesday that he had moved to be near a new factory Tesla is building outside Austin.