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Asset Acquisition - Additional Information (Details) - USD ($) $ in Thousands |  | 3 Months Ended | 12 Months Ended
--- | --- | --- | ---
Sep. 29, 2023 | Dec. 31, 2023 | Sep. 30, 2023 | Jun. 30, 2023 | Mar. 31, 2023 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Asset Acquisition [Abstract] |  |  |  |  |  |  |  |
Acquired in-process research and development | $ 18,200 | $ 0 | $ 18,215 | $ 0 | $ 0 | $ 18,215 | $ 0 | $ 0

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- Definition Research And Development, Acquired In Process + References No definition available. + Details
Name: | pen_ResearchAndDevelopmentAcquiredInProcess
Namespace Prefix: | pen_
Data Type: | xbrli:monetaryItemType
Balance Type: | debit
Period Type: | duration

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- References No definition available. + Details
Name: | us-gaap_AssetAcquisitionAbstract
Namespace Prefix: | us-gaap_
Data Type: | xbrli:stringItemType
Balance Type: | na
Period Type: | duration