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Stockholders' Equity - AOCI and Noncontrolling Interest (Details) - USD ($) $ in Millions		3 Months Ended
		Mar. 31, 2021	Mar. 31, 2020
Change in accumulated other comprehensive income (loss) rollforward
Balances		$ 16,558.9
Purchase of subsidiary shares from noncontrolling interest	[1]	(16.6)	$ (0.9)
Balances		15,405.5
Change in redeemable noncontrolling interest rollforward
Redeemable noncontrolling interest, balance at beginning of period		255.6	264.9
Net income (loss) attributable to redeemable noncontrolling interest		(1.8)	(23.7)
Contributions from redeemable noncontrolling interest		17.8	34.2
Distributions to redeemable noncontrolling interest		(16.3)	(29.7)
Change in redemption value of redeemable noncontrolling interest		8.2	0.6
Other comprehensive income (loss) attributable to redeemable noncontrolling interest			(6.6)
Redeemable noncontrolling interest, balance at end of period		263.5	239.7
Accumulated other comprehensive income (loss)
Change in accumulated other comprehensive income (loss) rollforward
Balances		2,383.1	1,037.9
Other comprehensive income (loss) during the period, net of adjustments		(1,413.6)	(1,668.1)
Amounts reclassified from accumulated other comprehensive income (loss)		(15.7)	31.0
Other comprehensive income (loss) attributable to Principal Financial Group, Inc.		(1,429.3)	(1,637.1)
Balances		953.8	(599.2)
Net unrealized gains (losses) on available-for-sale securities
Change in accumulated other comprehensive income (loss) rollforward
Balances		4,138.3	2,806.0
Other comprehensive income (loss) during the period, net of adjustments		(1,351.7)	(1,404.4)
Amounts reclassified from accumulated other comprehensive income (loss)		(21.7)	(6.9)
Other comprehensive income (loss) attributable to Principal Financial Group, Inc.		(1,373.4)	(1,411.3)
Balances		2,764.9	1,350.6
Available-for-sale debt securities, allowance for credit losses		2.4	3.3
Net unrealized gains (losses) on available-for-sale securities | 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			(44.1)
Noncredit component of impairment losses on fixed maturities available-for-sale | 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		18.2	53.4
Other comprehensive income (loss) during the period, net of adjustments		1.3	52.7
Amounts reclassified from accumulated other comprehensive income (loss)		(3.5)	(4.1)
Other comprehensive income (loss) attributable to Principal Financial Group, Inc.		(2.2)	48.6
Balances		16.0	102.0
Foreign currency translation adjustment
Change in accumulated other comprehensive income (loss) rollforward
Balances		(1,312.9)	(1,341.8)
Other comprehensive income (loss) during the period, net of adjustments		(56.0)	(316.9)
Amounts reclassified from accumulated other comprehensive income (loss)			31.5
Other comprehensive income (loss) attributable to Principal Financial Group, Inc.		(56.0)	(285.4)
Balances		(1,368.9)	(1,627.2)
Unrecognized postretirement benefit obligation
Change in accumulated other comprehensive income (loss) rollforward
Balances		(460.5)	(435.6)
Other comprehensive income (loss) during the period, net of adjustments		(7.2)	0.5
Amounts reclassified from accumulated other comprehensive income (loss)		9.5	10.5
Other comprehensive income (loss) attributable to Principal Financial Group, Inc.		2.3	11.0
Balances		$ (458.2)	$ (424.6)
[1] Excludes amounts attributable to redeemable noncontrolling interest. See Note 9, Stockholders’ Equity, for further details.

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Amount, before tax, of accumulated unrealized gain (loss) on investment in debt security measured at fair value with change in fair value recognized in other comprehensive income (available-for-sale) with allowance for credit loss.

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