Commitments and Contingencies - Narrative (Details)	3 Months Ended		9 Months Ended		33 Months Ended
Commitments and Contingencies - Narrative (Details)	Sep. 30, 2024 USD ($) claim	Sep. 30, 2023 USD ($)	Sep. 30, 2024 USD ($) claim	Sep. 30, 2023 USD ($)	Sep. 30, 2024 USD ($) claim	Dec. 31, 2023 USD ($)	Nov. 01, 2023 USD ($)	Oct. 05, 2023	Apr. 30, 2023 ft²	Mar. 31, 2022 ft²	Aug. 31, 2020 ft²	Jun. 30, 2019 ft²	Aug. 01, 2018 ft²	Aug. 31, 2014 ft²
Loss Contingencies [Line Items]
Right-of-use assets	$ 20,900,000		$ 20,900,000		$ 20,900,000	$ 22,500,000
Right-of-use assets obtained in exchange for operating lease liabilities	0	$ 0	0	$ 0
Cash paid for operating lease liabilities	400,000	600,000	1,300,000	1,600,000
Amortization of the ROU assets	$ 500,000	100,000	$ 1,600,000	500,000
Weighted-average remaining lease terms for operating leases (in years)	9 years 3 months 18 days		9 years 3 months 18 days		9 years 3 months 18 days
Weighted-average incremental borrowing rate for a collateralized asset of the same remaining term (as a percent)	5.80%		5.80%		5.80%
Period after first sale royalty is due (in years)			12 years
Net revenue due as royalty (as a percent)			4.00%
Royalty expense	$ 700,000	$ 600,000	$ 2,000,000.0	$ 1,700,000
Accrued royalty expense	$ 700,000		$ 700,000		$ 700,000	$ 800,000
Number of unpatentable claims \| claim	10		10		10
Number of claims \| claim	15		15		15
F15
Loss Contingencies [Line Items]
Net revenue previously received for sales subject to dispute (as a percent)								4.00%
Net restricted cash and cash equivalents subject of dispute with interest amount, held in escrow					$ 25,000,000
Royalty payment (as a percent)	4.00%		4.00%		4.00%
Maximum
Loss Contingencies [Line Items]
Royalty commitments	$ 200,000		$ 200,000		$ 200,000
First Lease
Loss Contingencies [Line Items]
Term of operating lease contract														5 years
Net rentable area (square feet) \| ft²														12,215
Second Lease
Loss Contingencies [Line Items]
Net rentable area (square feet) \| ft²													25,548
Third Lease
Loss Contingencies [Line Items]
Term of operating lease contract												8 years
Net rentable area (square feet) \| ft²												32,621
Fourth Lease
Loss Contingencies [Line Items]
Term of operating lease contract											38 months
Net rentable area (square feet) \| ft²											5,693
Fifth Lease
Loss Contingencies [Line Items]
Term of operating lease contract										18 months
Net rentable area (square feet) \| ft²										3,276
Sixth Lease
Loss Contingencies [Line Items]
Term of operating lease contract									120 months
Net rentable area (square feet) \| ft²									145,960
Renewal term of operating lease (in years)									5 years
Right-of-use assets							$ 21,900,000
Operating lease liability							$ 23,100,000

Axonics, Inc. 10-Q