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Net Income (Loss) per Share - Basic and Diluted Earnings per Share (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 12 Months Ended
Dec. 31, 2023
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Dec. 31, 2022
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Numerator:                      
Net income attributable to Penumbra, Inc. $ 54,218 $ 9,214 $ 18,960 $ 8,562 $ 3,877 $ (2,271) $ (3,687) $ 79 $ 90,954 $ (2,002) $ 5,284
Denominator:                      
Weighted average shares outstanding: Basic (in shares) 38,628,565 38,462,463 38,320,999 38,186,342 38,030,344 37,918,452 37,767,519 37,646,122 38,401,171 37,841,874 36,764,290
Potential dilutive stock-based options and awards, as calculated using treasury stock method (in shares)                 815,393 0 1,116,890
Weighted average shares outstanding: Diluted (in shares) 39,291,044 39,219,966 39,201,155 39,075,388 38,896,940 37,918,452 37,767,519 38,708,657 39,216,564 37,841,874 37,881,180
Net income (loss) attributable to Penumbra, Inc. per share: Basic (in dollars per share) $ 1.40 $ 0.24 $ 0.49 $ 0.22 $ 0.10 $ (0.06) $ (0.10) $ 0.00 $ 2.37 $ (0.05) $ 0.14
Net income (loss) attributable to Penumbra, Inc. per share: Diluted (in dollars per share) $ 1.38 $ 0.23 $ 0.48 $ 0.22 $ 0.10 $ (0.06) $ (0.10) $ 0.00 $ 2.32 $ (0.05) $ 0.14