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Stockholders' Equity - AOCI and Noncontrolling Interest (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Change in accumulated other comprehensive income (loss) rollforward        
Balances     $ 14,618.0  
Balances $ 15,650.9   15,650.9  
Change in redeemable noncontrolling interest rollforward        
Redeemable noncontrolling interest, balance at beginning of period 272.7 $ 304.5 264.9 $ 391.2
Net income (loss) attributable to redeemable noncontrolling interest (1.5) 2.6 (9.5) 26.9
Redeemable noncontrolling interest of deconsolidated entities (47.3)   (47.3) (370.0)
Contributions from redeemable noncontrolling interest 49.7 75.7 124.3 373.4
Distributions to redeemable noncontrolling interest (6.0) (10.6) (53.8) (56.7)
Purchase of subsidiary shares from redeemable noncontrolling interest   (1.1)   (1.1)
Change in redemption value of redeemable noncontrolling interest 1.7 (0.4) (0.2) 1.3
Stock-based compensation attributable to redeemable noncontrolling interest 0.1   0.1 0.1
Other comprehensive income (loss) attributable to redeemable noncontrolling interest 9.1 (1.4)   4.2
Redeemable noncontrolling interest, balance at end of period 278.5 369.3 278.5 369.3
Accumulated other comprehensive income (loss)        
Change in accumulated other comprehensive income (loss) rollforward        
Balances 1,450.7 647.7 1,037.9 (1,565.1)
Other comprehensive income (loss) during the period, net of adjustments 283.1 646.2 702.1 2,801.6
Amounts reclassified from accumulated other comprehensive income (loss) 13.3 13.2 7.1 70.6
Other comprehensive income (loss) attributable to Principal Financial Group, Inc. 296.4 659.4 709.2 2,872.2
Balances 1,747.1 1,307.1 1,747.1 1,307.1
Net unrealized gains (losses) on available-for-sale securities        
Change in accumulated other comprehensive income (loss) rollforward        
Balances 3,388.2 2,279.1 2,806.0 190.0
Other comprehensive income (loss) during the period, net of adjustments 224.7 784.5 894.8 2,844.2
Amounts reclassified from accumulated other comprehensive income (loss) 1.9 2.7 (41.9) 32.1
Other comprehensive income (loss) attributable to Principal Financial Group, Inc. 226.6 787.2 852.9 2,876.3
Balances 3,614.8 3,066.3 3,614.8 3,066.3
Available-for-sale debt securities, allowance for credit losses 4.0   4.0  
Net unrealized gains (losses) on available-for-sale securities | ASU 2016-13 - CECL | Effects of implementation of accounting change        
Change in accumulated other comprehensive income (loss) rollforward        
Balances     (44.1)  
Noncredit component of impairment losses on fixed maturities available-for-sale        
Change in accumulated other comprehensive income (loss) rollforward        
Balances   (49.9) (44.1) (47.1)
Amounts reclassified from accumulated other comprehensive income (loss)   4.3   1.5
Other comprehensive income (loss) attributable to Principal Financial Group, Inc.   4.3   1.5
Balances   (45.6)   (45.6)
Noncredit component of impairment losses on fixed maturities available-for-sale | ASU 2016-13 - CECL | Effects of implementation of accounting change        
Change in accumulated other comprehensive income (loss) rollforward        
Balances     44.1  
Net unrealized gains (losses) on derivative instruments        
Change in accumulated other comprehensive income (loss) rollforward        
Balances 85.6 61.5 53.4 64.4
Other comprehensive income (loss) during the period, net of adjustments (21.4) 16.5 25.7 25.6
Amounts reclassified from accumulated other comprehensive income (loss) (3.7) (3.8) (18.6) (15.8)
Other comprehensive income (loss) attributable to Principal Financial Group, Inc. (25.1) 12.7 7.1 9.8
Balances 60.5 74.2 60.5 74.2
Foreign currency translation adjustment        
Change in accumulated other comprehensive income (loss) rollforward        
Balances (1,608.9) (1,198.8) (1,341.8) (1,259.5)
Other comprehensive income (loss) during the period, net of adjustments 79.8 (154.8) (218.8) (114.5)
Amounts reclassified from accumulated other comprehensive income (loss) 4.6   36.1 20.4
Other comprehensive income (loss) attributable to Principal Financial Group, Inc. 84.4 (154.8) (182.7) (94.1)
Balances (1,524.5) (1,353.6) (1,524.5) (1,353.6)
Unrecognized postretirement benefit obligation        
Change in accumulated other comprehensive income (loss) rollforward        
Balances (414.2) (444.2) (435.6) (512.9)
Other comprehensive income (loss) during the period, net of adjustments     0.4 46.3
Amounts reclassified from accumulated other comprehensive income (loss) 10.5 10.0 31.5 32.4
Other comprehensive income (loss) attributable to Principal Financial Group, Inc. 10.5 10.0 31.9 78.7
Balances $ (403.7) $ (434.2) $ (403.7) $ (434.2)