What are the requirements for a hit and run driver to stop at the scene of an accident?

person shall immediately stop the vehicle at the scene of the accident and shall fulfill the requirements of Sections 20003 and 20004." "[A]lthough the Vehicle Code section 20001(a) offense is commonly referred to as a 'hit and run,' . . . the offense is 'more accurately described as fleeing the scene of an injury accident.' " (People v. Martinez (2017) 2 Cal.5th 1093, 1102.) "Under Vehicle Code section 20001(a), '[t]he occurrence of an injury accident is a condition precedent' to the imposition of a duty to stop, provide identification, and render aid'but [it] is not an element of the crime' in the sense that it constitutes part of the conduct forbidden by the statute." (Id. at pp. 1102-1103.) "[A] defendant who flees the scene of an injury accident has committed a crime even if the accident was solely the result of the victim's own negligence." (Id. at p. 1103.)