diff --git a/doc/mjwarp/index.rst b/doc/mjwarp/index.rst
index 93e6e611..3e6db4d6 100644
--- a/doc/mjwarp/index.rst
+++ b/doc/mjwarp/index.rst
@@ -401,6 +401,14 @@ Memory allocated inline, including for CCD and the constraint solver, can also b
   Sparse Jacobians can enable significant memory savings. Updates for this feature are tracked in GitHub issue
   `#88 <https://github.com/google-deepmind/mujoco_warp/issues/88>`__.
 
+The :func:`mjw.make_data <mujoco_warp.make_data>` or :func:`mjw.put_data <mujoco_warp.put_data>` argument
+``nccdmax`` / ``naccdmax`` can be set to a value less than `nconmax`_ / `naconmax`_ in order to reduce the memory
+requirements for CCD. The value for this parameter should be the maximum number of contacts generated by a CCD
+collider, per world or for all worlds, respectively. For example, a batched simulation with 10 worlds that generates 80
+total contacts with per-collider contacts: mesh-mesh: 30 (CCD), ellipsoid-ellipsoid: 10 (CCD), and sphere-sphere: 40
+(primitive) should set `nconmax`_ / `naconmax`_ to at least 8 / 80 (may require more for broadphase) and ``nccdmax`` /
+``naccdmax`` to 3 / 30.
+
 Batched :class:`Model <mujoco_warp.Model>` Fields
 =================================================