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Revenues from Contracts with Customers - Disaggregation within Segments (Details) - USD ($)
$ in Millions
 3 Months Ended 9 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total fees and other revenues $ 1,143.0 $ 1,230.0 $ 3,332.6 $ 3,210.1
Premiums and other considerations 1,184.3 2,274.2 4,628.4 5,932.0
Net investment income (loss) 917.9 996.6 2,846.1 2,994.7
Operating Segments        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 681.9 692.0 2,035.6 1,840.4
Total operating revenues 3,292.4 4,523.8 10,903.1 12,206.7
Operating Segments | Retirement and Income Solutions        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 135.5 158.3 447.2 285.8
Total operating revenues 1,579.9 2,573.1 5,665.6 6,624.6
Operating Segments | Retirement and Income Solutions | Retirement and Income Solutions - Fee        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 133.4 156.0 441.0 278.3
Fees and other revenues not within the scope of revenue recognition guidance 293.5 301.2 829.1 854.6
Total fees and other revenues 426.9 457.2 1,270.1 1,132.9
Premiums and other considerations 0.7 1.0 3.4 2.7
Net investment income (loss) 104.0 101.2 310.6 305.1
Total operating revenues 531.6 559.4 1,584.1 1,440.7
Operating Segments | Retirement and Income Solutions | Retirement and Income Solutions - Fee | Administrative service fee revenue        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 132.8 155.5 439.7 277.0
Operating Segments | Retirement and Income Solutions | Retirement and Income Solutions - Fee | Other fee revenue        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 0.6 0.5 1.3 1.3
Operating Segments | Retirement and Income Solutions | Retirement and Income Solutions - Spread        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 2.1 2.3 6.2 7.5
Fees and other revenues not within the scope of revenue recognition guidance 1.9 2.6 7.8 11.7
Total fees and other revenues 4.0 4.9 14.0 19.2
Premiums and other considerations 517.1 1,499.3 2,497.7 3,628.3
Net investment income (loss) 527.2 509.5 1,569.8 1,536.4
Total operating revenues 1,048.3 2,013.7 4,081.5 5,183.9
Operating Segments | Retirement and Income Solutions | Retirement and Income Solutions - Spread | Deposit account fee revenue        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 2.1 2.3 6.2 7.5
Operating Segments | Principal Global Investors        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 377.0 362.8 1,108.1 1,041.3
Fees and other revenues not within the scope of revenue recognition guidance 4.8 5.1 14.2 19.8
Total fees and other revenues 381.8 367.9 1,122.3 1,061.1
Net investment income (loss) 1.0 2.0 4.2 7.3
Total operating revenues 382.8 369.9 1,126.5 1,068.4
Operating Segments | Principal Global Investors | Management fee revenue        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 330.2 315.3 954.7 912.3
Operating Segments | Principal Global Investors | Other fee revenue        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 46.8 47.5 153.4 129.0
Operating Segments | Principal International        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 111.1 114.8 322.2 345.9
Fees and other revenues not within the scope of revenue recognition guidance 1.4 1.6 4.2 5.0
Total fees and other revenues 112.5 116.4 326.4 350.9
Premiums and other considerations 16.6 115.8 130.2 342.8
Net investment income (loss) 96.2 172.4 345.6 503.0
Total operating revenues 225.3 404.6 802.2 1,196.7
Operating Segments | Principal International | Latin America        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 80.7 87.0 236.5 263.7
Operating Segments | Principal International | Asia        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 30.5 27.8 85.8 82.4
Operating Segments | Principal International | Principal International Corporate / Regional Office        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 0.2 0.3 0.7 0.7
Operating Segments | Principal International | Geographical Eliminations        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers (0.3) (0.3) (0.8) (0.9)
Operating Segments | Principal International | Management fee revenue        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 110.1 114.0 319.3 343.8
Operating Segments | Principal International | Other fee revenue        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 1.0 0.8 2.9 2.1
Operating Segments | U.S. Insurance Solutions        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 15.9 16.6 46.9 48.4
Total operating revenues 1,121.4 1,192.6 3,332.8 3,348.0
Operating Segments | U.S. Insurance Solutions | Specialty Benefits insurance        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 3.9 3.8 11.2 11.1
Fees and other revenues not within the scope of revenue recognition guidance 4.9 4.8 14.4 14.6
Total fees and other revenues 8.8 8.6 25.6 25.7
Premiums and other considerations 570.9 579.0 1,741.8 1,706.5
Net investment income (loss) 38.4 42.2 116.7 125.2
Total operating revenues 618.1 629.8 1,884.1 1,857.4
Operating Segments | U.S. Insurance Solutions | Specialty Benefits insurance | Administrative service fee revenue        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 3.9 3.8 11.2 11.1
Operating Segments | U.S. Insurance Solutions | Individual Life insurance        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 12.0 12.8 35.8 37.4
Fees and other revenues not within the scope of revenue recognition guidance 232.6 292.1 634.4 674.6
Total fees and other revenues 244.6 304.9 670.2 712.0
Premiums and other considerations 79.0 79.1 255.3 251.7
Net investment income (loss) 179.7 178.8 523.3 527.0
Total operating revenues 503.3 562.8 1,448.8 1,490.7
Operating Segments | U.S. Insurance Solutions | Individual Life insurance | Administrative service fee revenue        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 5.4 6.1 16.1 18.2
Operating Segments | U.S. Insurance Solutions | Individual Life insurance | Commission income        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 6.6 6.7 19.7 19.2
Operating Segments | Corporate        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 42.4 39.5 111.2 119.0
Fees and other revenues not within the scope of revenue recognition guidance (75.8) (75.2) (221.1) (223.7)
Total fees and other revenues (33.4) (35.7) (109.9) (104.7)
Net investment income (loss) 16.4 19.3 85.9 73.7
Total operating revenues (17.0) (16.4) (24.0) (31.0)
Operating Segments | Corporate | Other fee revenue        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 13.6 12.5 38.3 32.5
Operating Segments | Corporate | Commission income        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 78.0 82.0 231.0 236.5
Operating Segments | Corporate | Revenue by type - Eliminations        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers $ (49.2) $ (55.0) $ (158.1) $ (150.0)