What is innovation (bid‘ah) in light of the Quran, Sunnah, and jurisprudence, especially Hanafi jurisprudence?

Bid‘ah (innovation) in Islamic law is the introduction of something that was not present during the era of the Messenger of Allah, peace and blessings be upon him. It is defined as an addition to the religion or a subtraction from it after the time of the Companions, without legitimate religious authorization. It is an invented method in religion that parallels the Shari'ah, such as adhering to specific forms and postures in worship that were not mentioned in the sacred texts. Among the principles is that every act not performed by the Prophet, peace and blessings be upon him, despite the presence of the motivating factor and the absence of any impediment, is considered an innovation. The danger of innovation is grave; it is rejected and will be returned to its perpetrator. "Whoever introduces into this matter of ours that which is not from it, it is to be rejected." And "Every innovation is misguidance, and every misguidance is in the Fire."