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Net (Loss) Income Attributable to Penumbra, Inc. Per Share - Basic and Diluted Earnings per Share (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Numerator:    
Net income attributable to Penumbra, Inc. $ 11,836 $ 1,425
Weighted average shares used to compute net income attributable to common stockholders:    
Basic (in shares) 36,455,712 35,042,912
Potential dilutive stock-based options and awards (in shares) 1,077,808 1,319,814
Diluted (in shares) 37,533,520 36,362,726
Net income attributable to Penumbra, Inc. per share:    
Basic (in dollars per share) $ 0.32 $ 0.04
Diluted (in dollars per share) $ 0.32 $ 0.04