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Selected Quarterly Financial Data (Unaudited) - Selected Statement of Operations (Details) - USD ($)
$ / shares in Units, $ 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, 2022
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Quarterly Financial Information Disclosure [Abstract]                        
Revenue   $ 284,679 $ 270,946 $ 261,499 $ 241,398 $ 221,216 $ 213,678 $ 208,344 $ 203,895 $ 1,058,522 $ 847,133 $ 747,590
Cost of revenue   97,687 93,228 94,638 90,326 82,789 78,351 74,309 76,477 375,879 311,926 272,208
Gross profit   186,992 177,718 166,861 151,072 138,427 135,327 134,035 127,418 682,643 535,207 475,382
Acquired in-process research and development $ 18,200 0 18,215 0 0         18,215 0 0
Total operating expenses   151,963 165,093 148,972 143,064 133,594 129,893 134,174 131,464 609,092 529,125 482,883
Income before provision for (benefit from) income taxes   38,158 13,304 19,536 8,652 7,128 3,035 (1,167) (5,104) 79,650 3,892 (10,502)
(Benefit from) provision for income taxes   (16,060) 4,090 576 90 3,251 5,306 2,520 (5,183) (11,304) 5,894 (13,125)
Consolidated net income (loss)   54,218 9,214 18,960 8,562 3,877 (2,271) (3,687) 79 90,954 (2,002) 2,623
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
Net income (loss) attributable to Penumbra, Inc. per share:                        
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
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
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