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Commitments and Contingencies - Royalty commitments (Details)
¥ in Thousands, $ in Thousands
 12 Months Ended
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