An encoder includes a light emitting portion emitting light, an optical element portion splitting the light into a first beam and a second beam, an optical scale receiving the first beam and the second beam from the optical element portion, and a light receiving portion receiving the first beam and the second beam from the optical scale and outputting a signal in accordance with intensity of the received light, in which the optical element portion includes a prism on which the light is incident, a beam splitter disposed on the prism and splitting the light incident on the prism into the first beam heading for the optical scale and the second beam heading for an inside of the prism, and a first mirror portion disposed on the prism and reflecting the second beam from the beam splitter toward the optical scale.