Peter Rawlinson, the chief engineer of Tesla’s Model S sedan, has taken over as CEO of EV startup Lucid Motors, the company announced Tuesday. Rawlinson joined Lucid Motors from Tesla in 2013 as the chief technology officer, and he will retain that role going forward, the company says. Rawlinson replaces Sam Weng, who will retire, according to Lucid Motors. Weng co-founded the company back in 2007 as “Atieva,” with a focus on developing battery systems for electric cars.