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Schedule I - Additional Information of Parent Company - Condensed Balance Sheets (Parenthetical) (Details) | Dec. 31, 2023 $ / shares shares | Dec. 31, 2023 ¥ / shares shares | Dec. 31, 2022 $ / shares shares | Dec. 31, 2022 ¥ / shares shares | Dec. 31, 2021 $ / shares
--- | --- | --- | --- | --- | ---
Condensed Balance Sheet Statements Captions [Line Items] |  |  |  |  |
Ordinary stock, shares authorized | 1,000,000,000 | 1,000,000,000 |  |  |
Treasury stock, par value | $ / shares | $ 0.001 |  | $ 0.001 |  |
Treasury stock, shares | 12,240,463 | 12,240,463 | 5,699,315 | 5,699,315 |
Common Class A |  |  |  |  |
Condensed Balance Sheet Statements Captions [Line Items] |  |  |  |  |
Ordinary stock, par value | $ / shares | $ 0.001 |  | $ 0.001 |  | $ 0.001
Ordinary stock, shares authorized | 941,472,561 | 941,472,561 | 941,472,561 | 941,472,561 |
Ordinary stock, shares issued | 102,120,726 | 102,120,726 | 100,854,060 | 100,854,060 |
Ordinary stock, shares outstanding | 87,795,879 | 87,795,879 | 96,388,001 | 96,388,001 |
Common Class B |  |  |  |  |
Condensed Balance Sheet Statements Captions [Line Items] |  |  |  |  |
Ordinary stock, par value | $ / shares | $ 0.001 |  | $ 0.001 |  | 0.001
Ordinary stock, shares authorized | 47,240,103 | 47,240,103 | 47,240,103 | 47,240,103 |
Ordinary stock, shares issued | 47,240,103 | 47,240,103 | 47,240,103 | 47,240,103 |
Ordinary stock, shares outstanding | 47,240,103 | 47,240,103 | 47,240,103 | 47,240,103 |
Common Class C |  |  |  |  |
Condensed Balance Sheet Statements Captions [Line Items] |  |  |  |  |
Ordinary stock, par value | $ / shares | $ 0.001 |  | $ 0.001 |  | $ 0.001
Ordinary stock, shares authorized | 11,287,336 | 11,287,336 | 11,287,336 | 11,287,336 |
Ordinary stock, shares issued | 11,287,336 | 11,287,336 | 11,287,336 | 11,287,336 |
Ordinary stock, shares outstanding | 11,287,336 | 11,287,336 | 11,287,336 | 11,287,336 |
Parent Company |  |  |  |  |
Condensed Balance Sheet Statements Captions [Line Items] |  |  |  |  |
Treasury stock, par value | $ / shares | $ 0.001 |  | $ 0.001 |  |
Treasury stock, shares | 12,240,463 | 12,240,463 | 5,699,315 | 5,699,315 |
Parent Company | Common Class A |  |  |  |  |
Condensed Balance Sheet Statements Captions [Line Items] |  |  |  |  |
Ordinary stock, par value | ¥ / shares |  | ¥ 0.001 |  | ¥ 0.001 |
Ordinary stock, shares authorized | 941,472,561 | 941,472,561 | 941,472,561 | 941,472,561 |
Ordinary stock, shares issued | 102,120,726 | 102,120,726 | 100,854,060 | 100,854,060 |
Ordinary stock, shares outstanding | 87,795,879 | 87,795,879 | 96,388,001 | 96,388,001 |
Parent Company | Common Class B |  |  |  |  |
Condensed Balance Sheet Statements Captions [Line Items] |  |  |  |  |
Ordinary stock, par value | $ / shares | $ 0.001 |  | $ 0.001 |  |
Ordinary stock, shares authorized | 47,240,103 | 47,240,103 | 47,240,103 | 47,240,103 |
Ordinary stock, shares issued | 47,240,103 | 47,240,103 | 47,240,103 | 47,240,103 |
Ordinary stock, shares outstanding | 47,240,103 | 47,240,103 | 47,240,103 | 47,240,103 |
Parent Company | Common Class C |  |  |  |  |
Condensed Balance Sheet Statements Captions [Line Items] |  |  |  |  |
Ordinary stock, par value | ¥ / shares |  | ¥ 0.001 |  | ¥ 0.001 |
Ordinary stock, shares authorized | 11,287,336 | 11,287,336 | 11,287,336 | 11,287,336 |
Ordinary stock, shares issued | 11,287,336 | 11,287,336 | 11,287,336 | 11,287,336 |
Ordinary stock, shares outstanding | 11,287,336 | 11,287,336 | 11,287,336 | 11,287,336 |

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