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Commitments and Contingencies - Royalty commitments (Details) ¥ in Thousands, $ in Thousands | 12 Months Ended
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Dec. 31, 2023 USD ($) | Dec. 31, 2023 CNY (¥) | Dec. 31, 2022 USD ($) | Dec. 31, 2022 CNY (¥) | Dec. 31, 2021 USD ($) | Dec. 31, 2021 CNY (¥)
Other Commitments [Line Items] |  |  |  |  |  |
Base payment for royalty | $ 3,000 |  |  |  |  |
Royalty expense | ¥ |  | ¥ 35,288 |  | ¥ 18,044 |  | ¥ 18,542
2030 |  |  |  |  |  |
Other Commitments [Line Items] |  |  |  |  |  |
Payment for royalty expense |  |  | $ 3,000 |  | $ 3,000 |
Base payment for royalty | $ 300 |  |  |  |  |
Net revenues of rotational scanning product from US$0 to US$425,000 |  |  |  |  |  |
Other Commitments [Line Items] |  |  |  |  |  |
Percentage of royalty on net revenue | 4.00% | 4.00% |  |  |  |
Net revenues of rotational scanning product from US$0 to US$425,000 | Minimum |  |  |  |  |  |
Other Commitments [Line Items] |  |  |  |  |  |
Net revenues of rotational scanning product | $ 0 |  |  |  |  |
Net revenues of rotational scanning product from US$0 to US$425,000 | Maximum |  |  |  |  |  |
Other Commitments [Line Items] |  |  |  |  |  |
Net revenues of rotational scanning product | $ 425,000 |  |  |  |  |
Net revenues of rotational scanning product from US$425,000 to US$2,925,000 |  |  |  |  |  |
Other Commitments [Line Items] |  |  |  |  |  |
Percentage of royalty on net revenue | 3.00% | 3.00% |  |  |  |
Net revenues of rotational scanning product from US$425,000 to US$2,925,000 | Minimum |  |  |  |  |  |
Other Commitments [Line Items] |  |  |  |  |  |
Net revenues of rotational scanning product | $ 425,000 |  |  |  |  |
Net revenues of rotational scanning product from US$425,000 to US$2,925,000 | Maximum |  |  |  |  |  |
Other Commitments [Line Items] |  |  |  |  |  |
Net revenues of rotational scanning product | $ 2,925,000 |  |  |  |  |
Net revenues of rotational scanning product from US$2,925,000 to above |  |  |  |  |  |
Other Commitments [Line Items] |  |  |  |  |  |
Percentage of royalty on net revenue | 2.00% | 2.00% |  |  |  |
Net revenues of rotational scanning product | $ 2,925,000 |  |  |  |  |

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- Definition Amount of expense related to royalty payments under a contractual arrangement such as payment for mineral and drilling rights and use of technology or intellectual property. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Topic 220 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 2 -Subparagraph (SX 210.5-03.3) -Publisher FASB -URI https://asc.fasb.org//1943274/2147483621/220-10-S99-2 + Details
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