The device interfaces through a serial connection and comes with a USB to serial adaptor, not unlike an FTDI adapter (but not the same pinout as one).
As mentioned, the RPLIDAR interfaces using serial. Rx and Tx for data, and a digital input to turn the motor on and off. You can use these directly, or with the included USB to serial adapter.
Get started by installing the module on the Raspberry Pi using pip:
pip install adafruit-circuitpython-rplidar
For now this supports CPython (well tested on the Raspberry Pi). Support for CircuitPython on M4 boards will be forthcoming.