We investigate the possibility of a strong first-order electroweak phase transition (FOEWPT) during the early universe within the framework of the gauged two-Higgs doublet model (G2HDM) and explore its detectability through stochastic gravitational wave signals. The G2HDM introduces a dark replica of the Standard Model electroweak gauge group, inducing an accidental Z2 symmetry which not only leads to a simple scalar potential at tree-level but also offers a compelling vectorial dark matter candidate. Using the high temperature expansion in the effective potential that manifests gauge invariance, we find a possible two-step phase transition pattern in the model with a strong first-order transition occurring in the second step at the EW scale temperature. Collider data from the LHC plays a crucial role in constraining the parameter space conducive to this two-step transition. Furthermore, satisfying the nucleation condition necessitates the masses of scalar bosons in the hidden sector to align with the electroweak scale, potentially probed by future collider detectors. The stochastic gravitational wave energy spectrum associated with the phase transition is computed. The results indicate that forthcoming detectors such as BBO, LISA, DECIGO, TianQin and Taiji could potentially detect the gravitational wave signals generated by the FOEWPT. Additionally, we find that the parameter space probed by gravitational waves can also be searched for in future dark matter direct detection experiments, in particular those designed for dark matter masses in the sub-GeV range using the superfluid Helium target detectors.
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