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Segment Information - Income Tax Expense by Segment (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Segment Information: Income tax expense (benefit)      
Income taxes (benefits) $ 265.0 $ 249.2 $ 230.7
Operating Segments      
Segment Information: Income tax expense (benefit)      
Total segment income tax expense (benefit) from operating earnings (losses) 270.5 320.2 357.0
Reconciling Items      
Segment Information: Income tax expense (benefit)      
Tax expense (benefit) related to net realized capital gains (losses), as adjusted 28.2 1.3 (71.4)
Tax expense (benefit) associated with certain adjustments related to equity method investments and noncontrolling interest (33.7) (72.3) (54.9)
Retirement and Income Solutions | Operating Segments      
Segment Information: Income tax expense (benefit)      
Total segment income tax expense (benefit) from operating earnings (losses) 106.6 71.8 85.6
Principal Global Investors | Operating Segments      
Segment Information: Income tax expense (benefit)      
Total segment income tax expense (benefit) from operating earnings (losses) 141.9 121.8 149.1
Principal International | Operating Segments      
Segment Information: Income tax expense (benefit)      
Total segment income tax expense (benefit) from operating earnings (losses) 62.0 106.8 73.3
U.S. Insurance Solutions | Operating Segments      
Segment Information: Income tax expense (benefit)      
Total segment income tax expense (benefit) from operating earnings (losses) 47.9 101.8 85.7
Corporate | Operating Segments      
Segment Information: Income tax expense (benefit)      
Total segment income tax expense (benefit) from operating earnings (losses) $ (87.9) $ (82.0) $ (36.7)