It did not take 202 years.
The 27th amendment was not introduced 202 years ago.
Amendments only have a certain amount of time after introduction to be passed. They are specified within the proposed amendments themselves, and for the last 75 years they have been set at 7 years. this is so the states have enough time to get the amendments through their individual states processes to ratify them, and also so that amendments do not sit lingering for decades or hundreds of years and become irrelevant or outdated. As we do not pass the same types of laws about things we did 150 years ago.
Madison's "salary grab" amendment was introduced in 1789 and finally ratified in 1992 as the 27th Amendment.
The business of placing ratification windows in amendments started with the 18th Amendment and has continued ever since. Madison's 1789 amendment did not have a ratification window specified, therefore it was capable of ratification at any time after Congress passed it by two thirds margins, which was in 1789. It took 203 years to finally be ratified.
Congress objected to the Archivist of the United States' decision to accept the final ratifications, but the Archivist wrote congressional leadership a masterly memo that quoted every Supreme Court decision relating to the amendatory process. Congress could have taken the Archivist to court, but 1992 was an election year with an anti-incumbent bias. Deciding that discretion was the better part of valor, Congress backed down and passed the joint resolution officially welcoming the 27th Amendment into the Constitution.
"The amendment had been proposed almost 200 years earlier, in 1789. It was written by James Madison and was intended to be one of the very first amendments, right along with the Bill of Rights."
Here's the link to the story: He got a bad grade so he got the Constitution amended.
He started his quest in 1982, and it was finally ratified in 1992. That's OVER 200 years after it was proposed.