Embodiments herein provide for improved range response in lidar systems. In one embodiment, a lidar system includes a laser, and a detector. First optics direct light from the laser on a beam path along a first optical axis of the first optics. Second optics image the light from the beam path onto a second plane that is substantially normal to the first plane. The second optics have a second optical axis that differs from the first optical axis. The first and the second optical axes lie in a same first plane. A first line in the first plane intersects a second line in the second plane at an acute angle. The first line is perpendicular to the first optical axis. A spatial filter configured in or near the second plane filters the light from the second optics onto the detector.