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Cover page - USD ($)
 12 Months Ended
Dec. 31, 2021
Mar. 17, 2022
Jun. 30, 2020
Cover [Abstract]      
Document Type 10-K    
Document Annual Report true    
Document Period End Date Dec. 31, 2021    
Current Fiscal Year End Date --12-31    
Document Transition Report false    
Entity File Number 001-04321    
Entity Registrant Name PROCEPT BIOROBOTICS CORPORATION    
Entity Incorporation, State or Country Code DE    
Entity Tax Identification Number 26-0199180    
Entity Address, Address Line One 900 Island Drive    
Entity Address, City or Town Redwood City    
Entity Address, State or Province CA    
Entity Address, Postal Zip Code 94065    
City Area Code (650)    
Local Phone Number 232-7200    
Title of 12(b) Security Common stock, $0.00001 par value per share    
Trading Symbol PRCT    
Security Exchange Name NASDAQ    
Entity Well-known Seasoned Issuer No    
Entity Voluntary Filers No    
Entity Current Reporting Status Yes    
Entity Interactive Data Current Yes    
Entity Filer Category Non-accelerated Filer    
Entity Small Business true    
Entity Emerging Growth Company true    
Entity Ex Transition Period false    
ICFR Auditor Attestation Flag false    
Entity Shell Company false    
Entity Public Float     $ 0
Entity Common Stock, Shares Outstanding   43,988,574  
Documents Incorporated by Reference Portions of the registrant’s definitive Proxy Statement for its 2022 Annual Stockholders’ Meeting are incorporated by reference into Part III of this Annual Report on Form 10-K, to be filed within 120 days of the registrant’s fiscal year ended December 31, 2021.    
Entity Central Index Key 0001588978    
Document Fiscal Year Focus 2021    
Amendment Flag false    
Document Fiscal Period Focus FY