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Income Taxes - Valuation Allowance (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Reconciliation of valuation allowance
Beginning Balance	$ 46,693	$ 37,110	$ 28,768
Additions Charged To Expenses or Other Accounts	1,673	9,583	10,386
Deductions Credited to Expenses or Other Accounts	(24,409)	0	(2,044)
Ending Balance	$ 23,957	$ 46,693	$ 37,110

X

- Definition

Deferred Tax Assets, Valuation Allowance [Roll Forward]

+ References

No definition available.

+ Details

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Namespace Prefix:	pen_
Data Type:	xbrli:stringItemType
Balance Type:	na
Period Type:	duration

X

- Definition

Valuation Allowance, Deferred Tax Asset, Other Increase (Decrease), Amount

+ References

No definition available.

+ Details

Name:	pen_ValuationAllowanceDeferredTaxAssetOtherIncreaseDecreaseAmount
Namespace Prefix:	pen_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	duration

X

- Definition

Valuation Allowance, Deferred Tax Asset, Release of Valuation Allowance

+ References

No definition available.

+ Details

Name:	pen_ValuationAllowanceDeferredTaxAssetReleaseofValuationAllowance
Namespace Prefix:	pen_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration

X

- Definition

Amount of deferred tax assets for which it is more likely than not that a tax benefit will not be realized.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 740
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 2
-Subparagraph (c)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482685/740-10-50-2

+ Details

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Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	instant