<?xml version="1.0" encoding="utf-8"?>
<xbrl
  xml:lang="en-US"
  xmlns="http://www.xbrl.org/2003/instance"
  xmlns:dei="http://xbrl.sec.gov/dei/2021"
  xmlns:link="http://www.xbrl.org/2003/linkbase"
  xmlns:xlink="http://www.w3.org/1999/xlink">
    <link:schemaRef xlink:href="prct-20220111.xsd" xlink:type="simple"/>
    <context id="i5d67359447134a639ccfcbecef8842e0_D20220111-20220111">
        <entity>
            <identifier scheme="http://www.sec.gov/CIK">0001588978</identifier>
        </entity>
        <period>
            <startDate>2022-01-11</startDate>
            <endDate>2022-01-11</endDate>
        </period>
    </context>
    <dei:EntityCentralIndexKey
      contextRef="i5d67359447134a639ccfcbecef8842e0_D20220111-20220111"
      id="id3VybDovL2RvY3MudjEvZG9jOjQ2MGVlOTY5NmFjMzQ4YzdiNGE4ZGVlNDdjMTY1MGQwL3NlYzo0NjBlZTk2OTZhYzM0OGM3YjRhOGRlZTQ3YzE2NTBkMF80L2ZyYWc6OGY0NTc0N2NiYzkxNGI0ZTkxM2Q3NTVhY2UwYmNjYzUvdGFibGU6OTYyYzAwZjUxNTU4NGMyN2JjNzU5YWIwNDJjZTcyYzQvdGFibGVyYW5nZTo5NjJjMDBmNTE1NTg0YzI3YmM3NTlhYjA0MmNlNzJjNF8wLTEtMS0xLTU1ODc1_5bd156ea-a983-4403-a437-50f0696d51f3">0001588978</dei:EntityCentralIndexKey>
    <dei:AmendmentFlag
      contextRef="i5d67359447134a639ccfcbecef8842e0_D20220111-20220111"
      id="id3VybDovL2RvY3MudjEvZG9jOjQ2MGVlOTY5NmFjMzQ4YzdiNGE4ZGVlNDdjMTY1MGQwL3NlYzo0NjBlZTk2OTZhYzM0OGM3YjRhOGRlZTQ3YzE2NTBkMF80L2ZyYWc6OGY0NTc0N2NiYzkxNGI0ZTkxM2Q3NTVhY2UwYmNjYzUvdGFibGU6OTYyYzAwZjUxNTU4NGMyN2JjNzU5YWIwNDJjZTcyYzQvdGFibGVyYW5nZTo5NjJjMDBmNTE1NTg0YzI3YmM3NTlhYjA0MmNlNzJjNF8xLTEtMS0xLTU1ODc1_816cdc49-5cd6-4f85-b8c8-c20e4f28a077">false</dei:AmendmentFlag>
    <dei:DocumentType
      contextRef="i5d67359447134a639ccfcbecef8842e0_D20220111-20220111"
      id="id3VybDovL2RvY3MudjEvZG9jOjQ2MGVlOTY5NmFjMzQ4YzdiNGE4ZGVlNDdjMTY1MGQwL3NlYzo0NjBlZTk2OTZhYzM0OGM3YjRhOGRlZTQ3YzE2NTBkMF8xL2ZyYWc6NzMzMTE2YjlmYjRkNDJiNjgzNTg4NjkyYzllMWUwZDYvdGV4dHJlZ2lvbjo3MzMxMTZiOWZiNGQ0MmI2ODM1ODg2OTJjOWUxZTBkNl8xMjc2_3b147bc7-3279-4ac9-adc2-be58d7496210">8-K</dei:DocumentType>
    <dei:DocumentPeriodEndDate
      contextRef="i5d67359447134a639ccfcbecef8842e0_D20220111-20220111"
      id="id3VybDovL2RvY3MudjEvZG9jOjQ2MGVlOTY5NmFjMzQ4YzdiNGE4ZGVlNDdjMTY1MGQwL3NlYzo0NjBlZTk2OTZhYzM0OGM3YjRhOGRlZTQ3YzE2NTBkMF8xL2ZyYWc6NzMzMTE2YjlmYjRkNDJiNjgzNTg4NjkyYzllMWUwZDYvdGV4dHJlZ2lvbjo3MzMxMTZiOWZiNGQ0MmI2ODM1ODg2OTJjOWUxZTBkNl8yMzQ_f5d21a00-81b1-4e8d-9624-8ef0455a57a1">2022-01-11</dei:DocumentPeriodEndDate>
    <dei:EntityRegistrantName
      contextRef="i5d67359447134a639ccfcbecef8842e0_D20220111-20220111"
      id="id3VybDovL2RvY3MudjEvZG9jOjQ2MGVlOTY5NmFjMzQ4YzdiNGE4ZGVlNDdjMTY1MGQwL3NlYzo0NjBlZTk2OTZhYzM0OGM3YjRhOGRlZTQ3YzE2NTBkMF8xL2ZyYWc6NzMzMTE2YjlmYjRkNDJiNjgzNTg4NjkyYzllMWUwZDYvdGV4dHJlZ2lvbjo3MzMxMTZiOWZiNGQ0MmI2ODM1ODg2OTJjOWUxZTBkNl8xMjc3_aa964371-b6e6-4580-afc7-b0e18e6b1f9d">PROCEPT BIOROBOTICS CORPORATION</dei:EntityRegistrantName>
    <dei:EntityIncorporationStateCountryCode
      contextRef="i5d67359447134a639ccfcbecef8842e0_D20220111-20220111"
      id="id3VybDovL2RvY3MudjEvZG9jOjQ2MGVlOTY5NmFjMzQ4YzdiNGE4ZGVlNDdjMTY1MGQwL3NlYzo0NjBlZTk2OTZhYzM0OGM3YjRhOGRlZTQ3YzE2NTBkMF8xL2ZyYWc6NzMzMTE2YjlmYjRkNDJiNjgzNTg4NjkyYzllMWUwZDYvdGFibGU6OTgyODMxOTE0MzgzNDM1N2IxMTVhMWYyNWRkZjEyZWUvdGFibGVyYW5nZTo5ODI4MzE5MTQzODM0MzU3YjExNWExZjI1ZGRmMTJlZV8wLTAtMS0xLTU1ODc1_b2f9e69b-bdfe-4359-90db-90e1b35d3c03">DE</dei:EntityIncorporationStateCountryCode>
    <dei:EntityFileNumber
      contextRef="i5d67359447134a639ccfcbecef8842e0_D20220111-20220111"
      id="id3VybDovL2RvY3MudjEvZG9jOjQ2MGVlOTY5NmFjMzQ4YzdiNGE4ZGVlNDdjMTY1MGQwL3NlYzo0NjBlZTk2OTZhYzM0OGM3YjRhOGRlZTQ3YzE2NTBkMF8xL2ZyYWc6NzMzMTE2YjlmYjRkNDJiNjgzNTg4NjkyYzllMWUwZDYvdGFibGU6OTgyODMxOTE0MzgzNDM1N2IxMTVhMWYyNWRkZjEyZWUvdGFibGVyYW5nZTo5ODI4MzE5MTQzODM0MzU3YjExNWExZjI1ZGRmMTJlZV8wLTItMS0xLTU1ODc1_cd4c88ed-83e4-41da-b03d-400852f41067">001-40797</dei:EntityFileNumber>
    <dei:EntityTaxIdentificationNumber
      contextRef="i5d67359447134a639ccfcbecef8842e0_D20220111-20220111"
      id="id3VybDovL2RvY3MudjEvZG9jOjQ2MGVlOTY5NmFjMzQ4YzdiNGE4ZGVlNDdjMTY1MGQwL3NlYzo0NjBlZTk2OTZhYzM0OGM3YjRhOGRlZTQ3YzE2NTBkMF8xL2ZyYWc6NzMzMTE2YjlmYjRkNDJiNjgzNTg4NjkyYzllMWUwZDYvdGFibGU6OTgyODMxOTE0MzgzNDM1N2IxMTVhMWYyNWRkZjEyZWUvdGFibGVyYW5nZTo5ODI4MzE5MTQzODM0MzU3YjExNWExZjI1ZGRmMTJlZV8wLTQtMS0xLTU1ODc1_5ce071e9-b413-4cff-9a73-000158d15107">26-0199180</dei:EntityTaxIdentificationNumber>
    <dei:EntityAddressAddressLine1
      contextRef="i5d67359447134a639ccfcbecef8842e0_D20220111-20220111"
      id="id3VybDovL2RvY3MudjEvZG9jOjQ2MGVlOTY5NmFjMzQ4YzdiNGE4ZGVlNDdjMTY1MGQwL3NlYzo0NjBlZTk2OTZhYzM0OGM3YjRhOGRlZTQ3YzE2NTBkMF8xL2ZyYWc6NzMzMTE2YjlmYjRkNDJiNjgzNTg4NjkyYzllMWUwZDYvdGV4dHJlZ2lvbjo3MzMxMTZiOWZiNGQ0MmI2ODM1ODg2OTJjOWUxZTBkNl8xMjcw_ed26ec0b-64b9-414f-b14a-3bd825ff9085">900 Island Drive</dei:EntityAddressAddressLine1>
    <dei:EntityAddressCityOrTown
      contextRef="i5d67359447134a639ccfcbecef8842e0_D20220111-20220111"
      id="id3VybDovL2RvY3MudjEvZG9jOjQ2MGVlOTY5NmFjMzQ4YzdiNGE4ZGVlNDdjMTY1MGQwL3NlYzo0NjBlZTk2OTZhYzM0OGM3YjRhOGRlZTQ3YzE2NTBkMF8xL2ZyYWc6NzMzMTE2YjlmYjRkNDJiNjgzNTg4NjkyYzllMWUwZDYvdGV4dHJlZ2lvbjo3MzMxMTZiOWZiNGQ0MmI2ODM1ODg2OTJjOWUxZTBkNl8xMjcx_fd26c728-7a55-4c77-8ed3-78cf61cb09c6">Redwood City</dei:EntityAddressCityOrTown>
    <dei:EntityAddressStateOrProvince
      contextRef="i5d67359447134a639ccfcbecef8842e0_D20220111-20220111"
      id="id3VybDovL2RvY3MudjEvZG9jOjQ2MGVlOTY5NmFjMzQ4YzdiNGE4ZGVlNDdjMTY1MGQwL3NlYzo0NjBlZTk2OTZhYzM0OGM3YjRhOGRlZTQ3YzE2NTBkMF8xL2ZyYWc6NzMzMTE2YjlmYjRkNDJiNjgzNTg4NjkyYzllMWUwZDYvdGV4dHJlZ2lvbjo3MzMxMTZiOWZiNGQ0MmI2ODM1ODg2OTJjOWUxZTBkNl8xMjcy_0e1aa895-2f5a-4703-b7fa-7553f42cf100">CA</dei:EntityAddressStateOrProvince>
    <dei:EntityAddressPostalZipCode
      contextRef="i5d67359447134a639ccfcbecef8842e0_D20220111-20220111"
      id="id3VybDovL2RvY3MudjEvZG9jOjQ2MGVlOTY5NmFjMzQ4YzdiNGE4ZGVlNDdjMTY1MGQwL3NlYzo0NjBlZTk2OTZhYzM0OGM3YjRhOGRlZTQ3YzE2NTBkMF8xL2ZyYWc6NzMzMTE2YjlmYjRkNDJiNjgzNTg4NjkyYzllMWUwZDYvdGV4dHJlZ2lvbjo3MzMxMTZiOWZiNGQ0MmI2ODM1ODg2OTJjOWUxZTBkNl8zNzQ_e83ed395-145a-4ac2-a0fd-361abfb1baf8">94065</dei:EntityAddressPostalZipCode>
    <dei:CityAreaCode
      contextRef="i5d67359447134a639ccfcbecef8842e0_D20220111-20220111"
      id="id3VybDovL2RvY3MudjEvZG9jOjQ2MGVlOTY5NmFjMzQ4YzdiNGE4ZGVlNDdjMTY1MGQwL3NlYzo0NjBlZTk2OTZhYzM0OGM3YjRhOGRlZTQ3YzE2NTBkMF8xL2ZyYWc6NzMzMTE2YjlmYjRkNDJiNjgzNTg4NjkyYzllMWUwZDYvdGV4dHJlZ2lvbjo3MzMxMTZiOWZiNGQ0MmI2ODM1ODg2OTJjOWUxZTBkNl80OTE_78965989-62b1-40ce-ae80-3e7a281a350a">650</dei:CityAreaCode>
    <dei:LocalPhoneNumber
      contextRef="i5d67359447134a639ccfcbecef8842e0_D20220111-20220111"
      id="id3VybDovL2RvY3MudjEvZG9jOjQ2MGVlOTY5NmFjMzQ4YzdiNGE4ZGVlNDdjMTY1MGQwL3NlYzo0NjBlZTk2OTZhYzM0OGM3YjRhOGRlZTQ3YzE2NTBkMF8xL2ZyYWc6NzMzMTE2YjlmYjRkNDJiNjgzNTg4NjkyYzllMWUwZDYvdGV4dHJlZ2lvbjo3MzMxMTZiOWZiNGQ0MmI2ODM1ODg2OTJjOWUxZTBkNl8xMjcz_6fa81587-1a37-4733-b149-4b5b9593a1f9">232-7200</dei:LocalPhoneNumber>
    <dei:WrittenCommunications
      contextRef="i5d67359447134a639ccfcbecef8842e0_D20220111-20220111"
      id="id3VybDovL2RvY3MudjEvZG9jOjQ2MGVlOTY5NmFjMzQ4YzdiNGE4ZGVlNDdjMTY1MGQwL3NlYzo0NjBlZTk2OTZhYzM0OGM3YjRhOGRlZTQ3YzE2NTBkMF8xL2ZyYWc6NzMzMTE2YjlmYjRkNDJiNjgzNTg4NjkyYzllMWUwZDYvdGFibGU6MDZkYWFlYWJiZDA2NGExY2E3MGVhYjQyZmQwNDA1ZTkvdGFibGVyYW5nZTowNmRhYWVhYmJkMDY0YTFjYTcwZWFiNDJmZDA0MDVlOV8wLTAtMS0xLTU1ODc1_f64a2b78-5927-4b60-bfe8-a80685e2ed76">false</dei:WrittenCommunications>
    <dei:SolicitingMaterial
      contextRef="i5d67359447134a639ccfcbecef8842e0_D20220111-20220111"
      id="id3VybDovL2RvY3MudjEvZG9jOjQ2MGVlOTY5NmFjMzQ4YzdiNGE4ZGVlNDdjMTY1MGQwL3NlYzo0NjBlZTk2OTZhYzM0OGM3YjRhOGRlZTQ3YzE2NTBkMF8xL2ZyYWc6NzMzMTE2YjlmYjRkNDJiNjgzNTg4NjkyYzllMWUwZDYvdGFibGU6MjFlYjY2NDRjNDU2NDhkZTkwZmI3OTMzNTA4ZGZjZDIvdGFibGVyYW5nZToyMWViNjY0NGM0NTY0OGRlOTBmYjc5MzM1MDhkZmNkMl8wLTAtMS0xLTU1ODc1_78af52af-3b67-49df-b880-66c04371c683">false</dei:SolicitingMaterial>
    <dei:PreCommencementTenderOffer
      contextRef="i5d67359447134a639ccfcbecef8842e0_D20220111-20220111"
      id="id3VybDovL2RvY3MudjEvZG9jOjQ2MGVlOTY5NmFjMzQ4YzdiNGE4ZGVlNDdjMTY1MGQwL3NlYzo0NjBlZTk2OTZhYzM0OGM3YjRhOGRlZTQ3YzE2NTBkMF8xL2ZyYWc6NzMzMTE2YjlmYjRkNDJiNjgzNTg4NjkyYzllMWUwZDYvdGFibGU6MzgyZGEzOTkzNmUyNDBmNGFmMGYyZDJmYmJjZjQ3ZTYvdGFibGVyYW5nZTozODJkYTM5OTM2ZTI0MGY0YWYwZjJkMmZiYmNmNDdlNl8wLTAtMS0xLTU1ODc1_a5e588a1-c5b0-4d9c-ad3a-b9e0b1d34eca">false</dei:PreCommencementTenderOffer>
    <dei:PreCommencementIssuerTenderOffer
      contextRef="i5d67359447134a639ccfcbecef8842e0_D20220111-20220111"
      id="id3VybDovL2RvY3MudjEvZG9jOjQ2MGVlOTY5NmFjMzQ4YzdiNGE4ZGVlNDdjMTY1MGQwL3NlYzo0NjBlZTk2OTZhYzM0OGM3YjRhOGRlZTQ3YzE2NTBkMF8xL2ZyYWc6NzMzMTE2YjlmYjRkNDJiNjgzNTg4NjkyYzllMWUwZDYvdGFibGU6NmJlYzk3YTk1NDUyNDU1YWFkMDM0ZDBkMDU0YTJmMmYvdGFibGVyYW5nZTo2YmVjOTdhOTU0NTI0NTVhYWQwMzRkMGQwNTRhMmYyZl8wLTAtMS0xLTU1ODc1_11a742db-deb8-4653-ac0e-9ce37fd30872">false</dei:PreCommencementIssuerTenderOffer>
    <dei:Security12bTitle
      contextRef="i5d67359447134a639ccfcbecef8842e0_D20220111-20220111"
      id="id3VybDovL2RvY3MudjEvZG9jOjQ2MGVlOTY5NmFjMzQ4YzdiNGE4ZGVlNDdjMTY1MGQwL3NlYzo0NjBlZTk2OTZhYzM0OGM3YjRhOGRlZTQ3YzE2NTBkMF8xL2ZyYWc6NzMzMTE2YjlmYjRkNDJiNjgzNTg4NjkyYzllMWUwZDYvdGFibGU6M2U1NGQzMDUwMDkxNDYwNzliYjJhZjcxN2IxNDQxMWIvdGFibGVyYW5nZTozZTU0ZDMwNTAwOTE0NjA3OWJiMmFmNzE3YjE0NDExYl8xLTAtMS0xLTU1ODc1_500fbfb4-7bf2-4790-b8d0-4109b143950d">Common Stock, $0.00001 par value per share</dei:Security12bTitle>
    <dei:TradingSymbol
      contextRef="i5d67359447134a639ccfcbecef8842e0_D20220111-20220111"
      id="id3VybDovL2RvY3MudjEvZG9jOjQ2MGVlOTY5NmFjMzQ4YzdiNGE4ZGVlNDdjMTY1MGQwL3NlYzo0NjBlZTk2OTZhYzM0OGM3YjRhOGRlZTQ3YzE2NTBkMF8xL2ZyYWc6NzMzMTE2YjlmYjRkNDJiNjgzNTg4NjkyYzllMWUwZDYvdGFibGU6M2U1NGQzMDUwMDkxNDYwNzliYjJhZjcxN2IxNDQxMWIvdGFibGVyYW5nZTozZTU0ZDMwNTAwOTE0NjA3OWJiMmFmNzE3YjE0NDExYl8xLTItMS0xLTU1ODc1_293e4f0e-ad0c-460c-a9da-f6b8b62e4ced">PRCT</dei:TradingSymbol>
    <dei:SecurityExchangeName
      contextRef="i5d67359447134a639ccfcbecef8842e0_D20220111-20220111"
      id="id3VybDovL2RvY3MudjEvZG9jOjQ2MGVlOTY5NmFjMzQ4YzdiNGE4ZGVlNDdjMTY1MGQwL3NlYzo0NjBlZTk2OTZhYzM0OGM3YjRhOGRlZTQ3YzE2NTBkMF8xL2ZyYWc6NzMzMTE2YjlmYjRkNDJiNjgzNTg4NjkyYzllMWUwZDYvdGFibGU6M2U1NGQzMDUwMDkxNDYwNzliYjJhZjcxN2IxNDQxMWIvdGFibGVyYW5nZTozZTU0ZDMwNTAwOTE0NjA3OWJiMmFmNzE3YjE0NDExYl8xLTQtMS0xLTU1ODc1_194becf4-70a9-4e31-9953-08cf4a9e4eb5">NASDAQ</dei:SecurityExchangeName>
    <dei:EntityEmergingGrowthCompany
      contextRef="i5d67359447134a639ccfcbecef8842e0_D20220111-20220111"
      id="id3VybDovL2RvY3MudjEvZG9jOjQ2MGVlOTY5NmFjMzQ4YzdiNGE4ZGVlNDdjMTY1MGQwL3NlYzo0NjBlZTk2OTZhYzM0OGM3YjRhOGRlZTQ3YzE2NTBkMF8xL2ZyYWc6NzMzMTE2YjlmYjRkNDJiNjgzNTg4NjkyYzllMWUwZDYvdGV4dHJlZ2lvbjo3MzMxMTZiOWZiNGQ0MmI2ODM1ODg2OTJjOWUxZTBkNl8xMjc0_7fddc03a-7abf-4798-ab95-6d6944d31633">true</dei:EntityEmergingGrowthCompany>
    <dei:EntityExTransitionPeriod
      contextRef="i5d67359447134a639ccfcbecef8842e0_D20220111-20220111"
      id="id3VybDovL2RvY3MudjEvZG9jOjQ2MGVlOTY5NmFjMzQ4YzdiNGE4ZGVlNDdjMTY1MGQwL3NlYzo0NjBlZTk2OTZhYzM0OGM3YjRhOGRlZTQ3YzE2NTBkMF8xL2ZyYWc6NzMzMTE2YjlmYjRkNDJiNjgzNTg4NjkyYzllMWUwZDYvdGV4dHJlZ2lvbjo3MzMxMTZiOWZiNGQ0MmI2ODM1ODg2OTJjOWUxZTBkNl8xMjc1_a1ef39a5-9510-461a-97eb-4b8c3bfe276a">false</dei:EntityExTransitionPeriod>
</xbrl>
