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Consolidated Statements of Operations - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Statement [Abstract]      
Revenue $ 1,058,522 $ 847,133 $ 747,590
Cost of revenue 375,879 311,926 272,208
Gross profit 682,643 535,207 475,382
Operating expenses:      
Research and development 84,423 79,407 104,552
Sales, general and administrative 506,454 449,718 378,331
Acquired in-process research and development 18,215 0 0
Total operating expenses 609,092 529,125 482,883
Income (loss) from operations 73,551 6,082 (7,501)
Interest and other income (expense), net 6,099 (2,190) (3,001)
Income (loss) before income taxes 79,650 3,892 (10,502)
(Benefit from) provision for income taxes (11,304) 5,894 (13,125)
Consolidated net income (loss) 90,954 (2,002) 2,623
Net loss attributable to non-controlling interest 0 0 (2,661)
Net income (loss) attributable to Penumbra, Inc. $ 90,954 $ (2,002) $ 5,284
Net income (loss) attributable to Penumbra, Inc. per share:      
Net income (loss) attributable to Penumbra, Inc. per share: Basic (in dollars per share) $ 2.37 $ (0.05) $ 0.14
Net income (loss) attributable to Penumbra, Inc. per share: Diluted (in dollars per share) $ 2.32 $ (0.05) $ 0.14
Weighted average shares outstanding:      
Weighted average shares outstanding: Basic (in shares) 38,401,171 37,841,874 36,764,290
Weighted average shares outstanding: Diluted (in shares) 39,216,564 37,841,874 37,881,180