Ali CMB Polarization Telescope (AliCPT) is the first Cosmic Microwave Background (CMB) polarimeter with a large focal plane camera to be deployed in the Northern Hemisphere, in the Tibetan Plateau. Here we present the design of a dichroic (90/150 GHz) focal plane camera capable of hosting up to 32,376 Transition-Edge Sensor (TES) bolometers operating from a base temperature of 280 mK. Detectors are fabricated as monolithic arrays of 1,704 feedhorn-coupled and polarization-sensitive TES bolometers that are packaged in independent modules and read out with a microwave multiplexing architecture. A custom RFSoC-based system manages the multiplexing readout. Prototype AliCPT pixels have been fabricated and characterized, demonstrating passband performance within 2.5% of design and cross-polarization systematic sensitivity <inline-formula><tex-math notation="LaTeX">\leq</tex-math></inline-formula>2%.