This type of menu is perfectly fine - Google do not punish menu links that is a user experience decision (they wouldn't be doing their job properly if they were).
Hidden links are specifically for deceptive structural links that a user isn't likely to use but a robot would still crawl.
As this menu is within the website's head as navigation it should be fine and not meet Google's criteria for deceptive link penalty.
To further clarify your navigational items are semantically read as navigation:
- Ensure that navigational elements are wrapped in a
role="navigation" for your navigation
- Microdata using