Defining relations for quantum symmetric pair coideals of Kac-Moody type

Classical symmetric pairs consist of a symmetrizable Kac-Moody algebra $\mathfrak{g}$, together with its subalgebra of fixed points under an involutive automorphism of the second kind. Quantum group analogs of this construction, known as quantum symmetric pairs, replace the fixed point Lie subalgebras by one-sided coideal subalgebras of the quantized enveloping algebra $U_q(\mathfrak{g})$. We provide a complete presentation by generators and relations for these quantum symmetric pair coideal subalgebras. These relations are of inhomogeneous $q$-Serre type and are valid without restrictions on the generalized Cartan matrix. We draw special attention to the split case, where the quantum symmetric pair coideal subalgebras are generalized $q$-Onsager algebras.