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Organization and Principal Activities - Additional Information (Details)
$ / shares in Units, ¥ in Thousands
 1 Months Ended 12 Months Ended
Jan. 01, 2020
shares
Jun. 09, 2017
Apr. 30, 2021
USD ($)
$ / shares
shares
Dec. 31, 2022
CNY (¥)
Dec. 31, 2022
USD ($)
Dec. 31, 2021
CNY (¥)
Dec. 31, 2020
CNY (¥)
Dec. 31, 2022
USD ($)
Organization and Reorganization                
Place of incorporation       Cayman Islands Cayman Islands      
Statutory reserves       ¥ 529   ¥ 0   $ 77,000
Net (loss)/income       86,504   (127,250) ¥ (82,184)  
Cash flows operating activities       136,267 $ 19,759,000 (40,426) 39,996  
Accumulated deficit       2,280,500   2,366,531   330,648,000
Share Price | $ / shares     $ 8.14          
Stock issued, during the period | shares     3,685,504          
Cash and cash equivalents       568,192   533,293   82,400,000
Working capital       352,000       $ 51,000,000.0
Proceeds from issuance initial public offering | $     $ 30.0          
Warrant                
Organization and Reorganization                
Stock issued, during the period | shares     2,764,128          
IPO | common Class A                
Organization and Reorganization                
Stock issued, during the period | shares 82,000,000              
Variable Interest Entity Primary Beneficiary                
Organization and Reorganization                
Obligations to settle of variable interest entity       51,000   51,000    
Cash flows operating activities       147,067   (17,723) 17,425  
Cash and cash equivalents       302,103   191,549    
Technical development fee       82,100   9,600 26,900  
Proceeds from repayments of debt       (31,800)   (22,200) 148,800  
Proceeds from bank debt       ¥ 2,200   ¥ 29,500 ¥ 39,000  
Guangzhou Tiya                
Organization and Reorganization                
Service fee percentage of after tax profit   90.00%   90.00% 90.00%