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Condensed Consolidating Financial Information - Shelf Registration Guarantor, Statements of Operations (Details) - USD ($)
$ in Millions
 3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Revenues    
Premiums and other considerations $ 835.1 $ 2,291.0
Fees and other revenues 1,193.9 1,145.3
Net investment income (loss) 1,028.1 983.6
Net realized capital gains (losses) 151.4 131.4
Total revenues 3,208.5 4,551.3
Expenses    
Benefits, claims and settlement expenses 1,374.7 2,858.7
Dividends to policyholders 18.2 28.9
Operating expenses 1,201.7 1,335.5
Total expenses 2,594.6 4,223.1
Income (loss) before income taxes 613.9 328.2
Income taxes (benefits) 97.6 43.2
Net income (loss) 516.3 285.0
Net income attributable to noncontrolling interest (0.8) (3.9)
Net income attributable to PFG 517.1 288.9
Net income (loss) 516.3 285.0
Other comprehensive income (1,429.5) (1,646.3)
Comprehensive income (loss) (913.2) (1,361.3)
Legal Entities | Principal Financial Group, Inc. parent only    
Revenues    
Net investment income (loss) 5.5 3.4
Net realized capital gains (losses) (14.3) 5.2
Total revenues (8.8) 8.6
Expenses    
Operating expenses 39.5 48.5
Total expenses 39.5 48.5
Income (loss) before income taxes (48.3) (39.9)
Income taxes (benefits) (12.3) (10.1)
Equity in the net income (loss) of subsidiaries 553.1 318.7
Net income (loss) 517.1 288.9
Net income attributable to PFG 517.1 288.9
Net income (loss) 517.1 288.9
Other comprehensive income (1,263.9) (1,543.4)
Comprehensive income (loss) (746.8) (1,254.5)
Legal Entities | Principal Financial Services, Inc. only    
Revenues    
Fees and other revenues 69.9 95.8
Net investment income (loss) 0.2 0.8
Net realized capital gains (losses) 13.1 5.3
Total revenues 83.2 100.1
Expenses    
Operating expenses 139.7 130.3
Total expenses 144.7 133.6
Income (loss) before income taxes (61.5) (33.5)
Income taxes (benefits) (15.1) (15.2)
Equity in the net income (loss) of subsidiaries 599.5 337.0
Net income (loss) 553.1 318.7
Net income attributable to PFG 553.1 318.7
Net income (loss) 553.1 318.7
Other comprehensive income (1,257.4) (1,557.8)
Comprehensive income (loss) (704.3) (1,239.1)
Legal Entities | Principal Life Insurance Company and other subsidiaries combined    
Revenues    
Premiums and other considerations 835.1 2,291.0
Fees and other revenues 1,124.3 1,049.6
Net investment income (loss) 1,022.0 979.3
Net realized capital gains (losses) 152.6 120.9
Total revenues 3,137.2 4,445.0
Expenses    
Benefits, claims and settlement expenses 1,374.7 2,858.7
Dividends to policyholders 18.2 28.9
Operating expenses 1,022.1 1,156.7
Total expenses 2,413.5 4,043.4
Income (loss) before income taxes 723.7 401.6
Income taxes (benefits) 125.0 68.5
Net income (loss) 598.7 333.1
Net income attributable to noncontrolling interest (0.8) (3.9)
Net income attributable to PFG 599.5 337.0
Net income (loss) 598.7 333.1
Other comprehensive income (1,428.9) (1,678.7)
Comprehensive income (loss) (830.2) (1,345.6)
Legal Entities | Affiliated Entity | Principal Financial Services, Inc. only    
Revenues    
Revenue from related parties   (1.8)
Expenses    
Expenses to related parties 5.0 3.3
Legal Entities | Subsidiary of Common Parent | Principal Life Insurance Company and other subsidiaries combined    
Revenues    
Revenue from related parties 3.2 4.2
Expenses    
Expenses to related parties (1.5) (0.9)
Eliminations | Eliminations, Shelf Registration Debt Guarantor    
Revenues    
Fees and other revenues (0.3) (0.1)
Net investment income (loss) 0.4 0.1
Total revenues (3.1) (2.4)
Expenses    
Operating expenses 0.4  
Total expenses (3.1) (2.4)
Equity in the net income (loss) of subsidiaries (1,152.6) (655.7)
Net income (loss) (1,152.6) (655.7)
Net income attributable to PFG (1,152.6) (655.7)
Net income (loss) (1,152.6) (655.7)
Other comprehensive income 2,520.7 3,133.6
Comprehensive income (loss) 1,368.1 2,477.9
Eliminations | Affiliated Entity | Eliminations, Shelf Registration Debt Guarantor    
Revenues    
Revenue from related parties   1.8
Expenses    
Expenses to related parties (5.0) (3.3)
Eliminations | Subsidiary of Common Parent | Eliminations, Shelf Registration Debt Guarantor    
Revenues    
Revenue from related parties (3.2) (4.2)
Expenses    
Expenses to related parties $ 1.5 $ 0.9