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Consolidated Statements of Stockholders' Equity - USD ($) $ in Thousands | Total | Common Stock | Additional Paid-in Capital | Accumulated Other Comprehensive (Loss) Income | Retained Earnings (Accumulated Deficit) | Total Penumbra, Inc. Stockholders’ Equity | Non-Controlling Interest
--- | --- | --- | --- | --- | --- | --- | ---
Beginning balance (in shares) at Dec. 31, 2020 |  |  | 36,414,732 |  |  |  |  |
Beginning balance at Dec. 31, 2020 |  | $ 637,788 | $ 36 | $ 598,299 | $ 2,541 | $ 40,622 | $ 641,498 | $ (3,710)
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |
Issuance of common stock (in shares) |  |  | 498,185 |  |  |  |  |
Issuance of common stock |  | $ 4,664 |  | 4,507 |  |  | 4,507 | 157
Issuance of common stock under employee stock purchase plan (in shares) |  | 64,852 | 64,852 |  |  |  |  |
Issuance of common stock under employee stock purchase plan |  | $ 13,705 |  | 13,705 |  |  | 13,705 |
Issuance of common stock in connection with Sixense acquisition (in shares) | [1] |  | 661,877 |  |  |  |  |
Issuance of common stock in connection with Sixense acquisition | [1] | 174,134 | $ 1 | 174,133 |  |  | 174,134 |
Replacement share-based awards issued in connection with Sixense acquisition | [1] | 80,693 |  | 80,693 |  |  | 80,693 |
Acquisition of subsidiary stock from noncontrolling interests | [1] | (4,161) |  | (10,375) |  |  | (10,375) | 6,214
Shares held for tax withholdings (in shares) |  |  | (61,163) |  |  |  |  |
Shares held for tax withholding |  | (15,832) |  | (15,832) |  |  | (15,832) |
Stock-based compensation |  | 65,484 |  | 65,484 |  |  | 65,484 |
Other comprehensive income |  | (5,171) |  |  | (5,171) |  | (5,171) |
Net income (loss) |  | 2,623 |  |  |  | 5,284 |  |
Net income attributable to Penumbra, Inc. |  | 5,284 |  |  |  |  | 5,284 |
Net loss attributable to non-controlling interest |  | (2,661) |  |  |  |  |  | (2,661)
Ending balance (in shares) at Dec. 31, 2021 |  |  | 37,578,483 |  |  |  |  |
Ending balance at Dec. 31, 2021 |  | 953,927 | $ 37 | 910,614 | (2,630) | 45,906 | 953,927 | 0
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |
Issuance of common stock (in shares) |  |  | 460,177 |  |  |  |  |
Issuance of common stock |  | $ 7,787 | $ 1 | 7,786 |  |  | 7,787 |
Issuance of common stock under employee stock purchase plan (in shares) |  | 113,893 | 113,893 |  |  |  |  |
Issuance of common stock under employee stock purchase plan |  | $ 13,766 |  | 13,766 |  |  | 13,766 |
Shares held for tax withholdings (in shares) |  |  | (44,576) |  |  |  |  |
Shares held for tax withholding |  | (8,042) |  | (8,042) |  |  | (8,042) |
Stock-based compensation |  | 38,916 |  | 38,916 |  |  | 38,916 |
Other comprehensive income |  | (5,494) |  |  | (5,494) |  | (5,494) |
Net income (loss) |  | (2,002) |  |  |  | (2,002) |  |
Net income attributable to Penumbra, Inc. |  | (2,002) |  |  |  |  | (2,002) |
Net loss attributable to non-controlling interest |  | 0 |  |  |  |  |  |
Ending balance (in shares) at Dec. 31, 2022 |  |  | 38,107,977 |  |  |  |  |
Ending balance at Dec. 31, 2022 |  | 998,858 | $ 38 | 963,040 | (8,124) | 43,904 | 998,858 | 0
Increase (Decrease) in Stockholders' Equity [Roll Forward] |  |  |  |  |  |  |  |
Issuance of common stock (in shares) |  |  | 426,333 |  |  |  |  |
Issuance of common stock |  | $ 5,518 | $ 1 | 5,517 |  |  | 5,518 |
Issuance of common stock under employee stock purchase plan (in shares) |  | 83,799 | 83,799 |  |  |  |  |
Issuance of common stock under employee stock purchase plan |  | $ 14,896 |  | 14,896 |  |  | 14,896 |
Issuance of common stock in connection with Sixense acquisition (in shares) |  |  | 71,211 |  |  |  |  |
Issuance of common stock in connection with Sixense acquisition |  | 17,227 |  | 17,227 |  |  | 17,227 |
Shares held for tax withholdings (in shares) |  |  | (7,771) |  |  |  |  |
Shares held for tax withholding |  | (2,074) |  | (2,074) |  |  | (2,074) |
Stock-based compensation |  | 48,592 |  | 48,592 |  |  | 48,592 |
Other comprehensive income |  | 4,973 |  |  | 4,973 |  | 4,973 |
Net income (loss) |  | 90,954 |  |  |  | 90,954 |  |
Net income attributable to Penumbra, Inc. |  | 90,954 |  |  |  |  | 90,954 |
Net loss attributable to non-controlling interest |  | 0 |  |  |  |  |  |
Ending balance (in shares) at Dec. 31, 2023 |  |  | 38,681,549 |  |  |  |  |
Ending balance at Dec. 31, 2023 |  | $ 1,178,944 | $ 39 | $ 1,047,198 | $ (3,151) | $ 134,858 | $ 1,178,944 | $ 0
[1] | (1) Refer to Note "5. Business Combinations” and Note “12. Stockholders’ Equity” for more information on the impact of the acquisition of Sixense Enterprises Inc. during the year ended December 31, 2021.

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