I've tried almost everything to automate paper->computer (typing rather than writing, Livescribe pen, iPad pro + apple pencil, many many devices that are now dead) and none have been as good as just a decent (not super special) pen and a notepad. I prefer an engineering pad or quadrille or in a pinch dot-grid, but really anything works as long as you don't lose it.
The trick I learned was every day or so to move them into the computer, which I do by typing them in (and simply taking a photo of drawings). I usually type in Emacs or right into Evernote. I try to do it every evening as one of my last tasks, as part of reviewing my day & looking at the next day. If it's a multi-day sketch-it-out effort I wait until the few days are over. Dictation has become good enough that I can actually read aloud the relevant parts of a bunch of sheets of paper (in the order I care about) and then quickly fix them up. This is actually the only use case for dictation I've found on my computer.
The benefits: First of all, typing them over forces you to review them, organize them slightly, and skip over the irrelevant stuff. This is really important after a design effort since you throw away what you think are truly dead paths, and all your cross-out go away. If I need one, this typing is often the base of my design document. Second: I've seen meeting notes I've taken that don't justify being typed in. In which case, why did I even go to that meeting?
Interestingly, when I was a kid my mum told me she used this technique both in school and in work, which I dismissed as a ludicrous waste of time. Only decades later when I evolved the same approach did I remember her advice.