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Income taxes - Principal components of the deferred tax assets and liabilities (Details)
¥ in Thousands, $ in Thousands
Dec. 31, 2023
CNY (¥)
Dec. 31, 2023
USD ($)
Dec. 31, 2022
CNY (¥)
Dec. 31, 2022
USD ($)
Dec. 31, 2021
CNY (¥)
Dec. 31, 2020
CNY (¥)
Deferred tax assets:            
Inventories ¥ 3,006   ¥ 7,654      
Allowance for doubtful accounts 2,089   2,049      
Intangible assets 218,328   268,381      
Property and equipment | $   $ 1,093   $ 0    
Contract cost assets | $   $ 6,966   $ 0    
Accrued product warranties 19,883   23,037      
Accrued salaries and benefits 2,360   10,961      
Accrued expenses and other liabilities 20,340   14,494      
Unrealized investment loss of equity method investments 0   7,326      
Donation 302   503      
Government grants 12,198   0      
Operating lease liabilities 26,634   22,781      
Net operating loss carryforwards 303,198   201,812      
Total deferred tax assets 616,397   558,998      
Less: valuation allowance (582,644)   (537,172)   ¥ (550,520) ¥ (362,371)
Deferred tax assets, net of valuation allowance 33,753   21,826      
Deferred tax liabilities:            
Operating lease right-of-use assets (23,904)   (21,826)      
Property and equipment (1,580)   0      
Unrealized investment gain of equity method investments (8,151)   0      
Total deferred tax liabilities (33,635)   (21,826)      
Net deferred tax assets ¥ 118   ¥ 0