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Net Revenues - Revenues disaggregated by geographic location (Details) ¥ in Thousands, $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2023 CNY (¥) | Dec. 31, 2023 USD ($) | Dec. 31, 2022 CNY (¥) | Dec. 31, 2021 CNY (¥)
Disaggregation of Revenue |  |  |  |
Net revenues | ¥ 1,876,989 | $ 264,368 | ¥ 1,202,670 | ¥ 720,768
Revenue recognized at a point of time |  |  |  |
Disaggregation of Revenue |  |  |  |
Net revenues | 1,783,803 |  | 1,175,758 | 706,066
Revenue recognized over time |  |  |  |
Disaggregation of Revenue |  |  |  |
Net revenues | 93,186 |  | 26,912 | 14,702
Mainland China |  |  |  |
Disaggregation of Revenue |  |  |  |
Net revenues | 991,912 |  | 697,294 | 269,634
North America |  |  |  |
Disaggregation of Revenue |  |  |  |
Net revenues | 748,147 |  | 358,549 | 352,981
Europe |  |  |  |
Disaggregation of Revenue |  |  |  |
Net revenues | 70,500 |  | 86,153 | 67,912
Other regions |  |  |  |
Disaggregation of Revenue |  |  |  |
Net revenues | ¥ 66,430 |  | ¥ 60,674 | ¥ 30,241

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