Leases - Narrative (Details)	Jun. 30, 2022
Lessee, Lease, Description [Line Items]
Operating lease term, lease not yet commenced	13 years
5 year renewal term
Lessee, Lease, Description [Line Items]
Operating lease, renewal term (in years)	5 years
15 year renewal term
Lessee, Lease, Description [Line Items]
Operating lease, renewal term (in years)	15 years

Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

No definition available.

+ Details

Name:	us-gaap_LesseeLeaseDescriptionLineItems
Namespace Prefix:	us-gaap_
Data Type:	xbrli:stringItemType
Balance Type:	na
Period Type:	duration

- Definition

Term of lessee's operating lease not yet commenced, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

+ References

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 842
-SubTopic 20
-Section 50
-Paragraph 3
-Subparagraph (b)
-URI https://asc.fasb.org/extlink&oid=128292326&loc=SL77918673-209980

+ Details

Name:	us-gaap_LesseeOperatingLeaseLeaseNotYetCommencedTermOfContract1
Namespace Prefix:	us-gaap_
Data Type:	xbrli:durationItemType
Balance Type:	na
Period Type:	instant

- Definition

Term of lessee's operating lease renewal, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

+ References

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 842
-SubTopic 20
-Section 50
-Paragraph 3
-Subparagraph (a)(3)
-URI https://asc.fasb.org/extlink&oid=128292326&loc=SL77918673-209980

+ Details

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Namespace Prefix:	us-gaap_
Data Type:	xbrli:durationItemType
Balance Type:	na
Period Type:	instant

- Details

Name:	us-gaap_LeaseContractualTermAxis=pen_LeaseTermOption1Member
Namespace Prefix:
Data Type:	na
Balance Type:
Period Type:

- Details

Name:	us-gaap_LeaseContractualTermAxis=pen_LeaseTermOption3Member
Namespace Prefix:
Data Type:	na
Balance Type:
Period Type: