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Condensed Consolidating Financial Information - Guarantor, Statements of Operations (Details) - USD ($)
$ in Millions
 3 Months Ended
Mar. 31, 2020
Mar. 31, 2019
Revenues    
Premiums and other considerations $ 2,291.0 $ 1,724.9
Fees and other revenues 1,145.3 973.5
Net investment income (loss) 983.6 961.0
Net realized capital gains, excluding impairment losses on available-for-sale securities 131.4 91.3
Net other-than-temporary impairment (losses) recoveries on available-for-sale securities   (9.6)
Other-than-temporary impairment losses on fixed maturities, available-for-sale reclassified to other comprehensive income   2.8
Net impairment losses recoveries on available-for-sale securities   (6.8)
Net realized capital gains (losses) 131.4 84.5
Total revenues 4,551.3 3,743.9
Expenses    
Benefits, claims and settlement expenses 2,858.7 2,195.1
Dividends to policyholders 28.9 30.1
Operating expenses 1,335.5 992.7
Total expenses 4,223.1 3,217.9
Income (loss) before income taxes 328.2 526.0
Income taxes (benefits) 43.2 73.9
Net income (loss) 285.0 452.1
Net income attributable to noncontrolling interest (3.9) 22.2
Net income attributable to PFG 288.9 429.9
Net income (loss) 285.0 452.1
Other comprehensive income (1,646.3) 1,146.7
Comprehensive income (loss) (1,361.3) 1,598.8
Principal Financial Group, Inc. parent only | Legal Entities    
Revenues    
Net investment income (loss) 3.4 5.0
Net realized capital gains, excluding impairment losses on available-for-sale securities 5.2 5.3
Net realized capital gains (losses)   5.3
Total revenues 8.6 10.3
Expenses    
Operating expenses 48.5 56.1
Total expenses 48.5 56.1
Income (loss) before income taxes (39.9) (45.8)
Income taxes (benefits) (10.1) (11.3)
Equity in the net income (loss) of subsidiaries 318.7 464.4
Net income (loss) 288.9 429.9
Net income attributable to PFG 288.9 429.9
Net income (loss) 288.9 429.9
Other comprehensive income (1,543.4) 1,141.3
Comprehensive income (loss) (1,254.5) 1,571.2
Principal Life Insurance Company only | Legal Entities    
Revenues    
Premiums and other considerations 2,145.3 1,542.4
Fees and other revenues 584.0 544.6
Net investment income (loss) 723.1 702.5
Net realized capital gains, excluding impairment losses on available-for-sale securities 628.9 403.5
Net other-than-temporary impairment (losses) recoveries on available-for-sale securities   (9.5)
Other-than-temporary impairment losses on fixed maturities, available-for-sale reclassified to other comprehensive income   2.8
Net impairment losses recoveries on available-for-sale securities   (6.7)
Net realized capital gains (losses)   396.8
Total revenues 4,081.3 3,186.3
Expenses    
Benefits, claims and settlement expenses 2,633.2 1,944.4
Dividends to policyholders 28.9 30.1
Operating expenses 802.8 585.6
Total expenses 3,464.9 2,560.1
Income (loss) before income taxes 616.4 626.2
Income taxes (benefits) 104.8 95.2
Equity in the net income (loss) of subsidiaries (142.0) (235.7)
Net income (loss) 369.6 295.3
Net income attributable to PFG 369.6 295.3
Net income (loss) 369.6 295.3
Other comprehensive income (1,284.6) 1,053.9
Comprehensive income (loss) (915.0) 1,349.2
Principal Financial Services, Inc. and other subsidiaries combined | Legal Entities    
Revenues    
Premiums and other considerations 145.7 182.5
Fees and other revenues 661.3 520.6
Net investment income (loss) 622.8 546.0
Net realized capital gains, excluding impairment losses on available-for-sale securities (501.4) (317.5)
Net other-than-temporary impairment (losses) recoveries on available-for-sale securities   (0.1)
Net impairment losses recoveries on available-for-sale securities   (0.1)
Net realized capital gains (losses)   (317.6)
Total revenues 928.4 931.5
Expenses    
Benefits, claims and settlement expenses 228.3 253.6
Operating expenses 578.2 438.1
Total expenses 806.5 691.7
Income (loss) before income taxes 121.9 239.8
Income taxes (benefits) (51.3) (9.8)
Equity in the net income (loss) of subsidiaries 139.5 233.1
Net income (loss) 312.7 482.7
Net income attributable to noncontrolling interest (3.9) 19.8
Net income attributable to PFG 316.6 462.9
Net income (loss) 312.7 482.7
Other comprehensive income (1,611.7) 1,174.2
Comprehensive income (loss) (1,299.0) 1,656.9
Eliminations, Notes Guarantor | Eliminations    
Revenues    
Fees and other revenues (100.0) (91.7)
Net investment income (loss) (365.7) (292.5)
Net realized capital gains, excluding impairment losses on available-for-sale securities (1.3)  
Total revenues (467.0) (384.2)
Expenses    
Benefits, claims and settlement expenses (2.8) (2.9)
Operating expenses (94.0) (87.1)
Total expenses (96.8) (90.0)
Income (loss) before income taxes (370.2) (294.2)
Income taxes (benefits) (0.2) (0.2)
Equity in the net income (loss) of subsidiaries (316.2) (461.8)
Net income (loss) (686.2) (755.8)
Net income attributable to noncontrolling interest   2.4
Net income attributable to PFG (686.2) (758.2)
Net income (loss) (686.2) (755.8)
Other comprehensive income 2,793.4 (2,222.7)
Comprehensive income (loss) $ 2,107.2 $ (2,978.5)