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Revenues from Contracts with Customers - Disaggregation within Segments (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total fees and other revenues $ 1,265.3 $ 1,044.3 $ 2,459.2 $ 2,189.6
Premiums and other considerations 1,269.7 1,153.1 2,104.8 3,444.1
Net investment income (loss) 1,045.5 944.6 2,073.6 1,928.2
Operating Segments        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 795.2 653.3 1,533.3 1,353.7
Total operating revenues 3,613.8 3,181.1 6,727.3 7,610.7
Operating Segments | Retirement and Income Solutions        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 150.1 153.2 294.4 311.7
Total operating revenues 1,670.9 1,480.0 2,894.9 4,085.7
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 147.7 151.2 289.6 307.6
Fees and other revenues not within the scope of revenue recognition guidance 326.5 255.1 640.2 535.6
Total fees and other revenues 474.2 406.3 929.8 843.2
Premiums and other considerations   0.9 0.5 2.7
Net investment income (loss) 105.7 102.2 212.7 206.6
Total operating revenues 579.9 509.4 1,143.0 1,052.5
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 145.4 150.7 287.2 306.9
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 2.3 0.5 2.4 0.7
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 2.4 2.0 4.8 4.1
Fees and other revenues not within the scope of revenue recognition guidance 2.7 2.8 4.7 5.9
Total fees and other revenues 5.1 4.8 9.5 10.0
Premiums and other considerations 525.0 459.5 629.8 1,980.6
Net investment income (loss) 560.9 506.3 1,112.6 1,042.6
Total operating revenues 1,091.0 970.6 1,751.9 3,033.2
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 2.2 2.0 4.5 4.1
Operating Segments | Retirement and Income Solutions | Retirement and Income Solutions - Spread | Commission income        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 0.2   0.3  
Operating Segments | Principal Global Investors        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 444.0 348.2 850.1 731.1
Fees and other revenues not within the scope of revenue recognition guidance 8.1 3.9 16.1 9.4
Total fees and other revenues 452.1 352.1 866.2 740.5
Net investment income (loss) 1.6 0.8 2.7 3.2
Total operating revenues 453.7 352.9 868.9 743.7
Operating Segments | Principal Global Investors | Management fee revenue        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 374.1 303.5 730.0 624.5
Operating Segments | Principal Global Investors | Other fee revenue        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 69.9 44.7 120.1 106.6
Operating Segments | Principal International        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 126.5 101.6 248.4 211.1
Fees and other revenues not within the scope of revenue recognition guidance 1.1 1.5 2.1 2.8
Total fees and other revenues 127.6 103.1 250.5 213.9
Premiums and other considerations 41.9 28.6 69.2 113.6
Net investment income (loss) 136.7 144.7 294.5 249.4
Total operating revenues 306.2 276.4 614.2 576.9
Operating Segments | Principal International | Latin America        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 92.7 74.3 181.8 155.8
Operating Segments | Principal International | Asia        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 33.5 27.3 65.8 55.3
Operating Segments | Principal International | Principal International Corporate / Regional Office        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 0.7 0.3 1.5 0.5
Operating Segments | Principal International | Geographical Eliminations        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers (0.4) (0.3) (0.7) (0.5)
Operating Segments | Principal International | Management fee revenue        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 124.7 100.7 244.8 209.2
Operating Segments | Principal International | Other fee revenue        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 1.8 0.9 3.6 1.9
Operating Segments | U.S. Insurance Solutions        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 18.7 14.4 36.1 31.0
Total operating revenues 1,181.9 1,088.1 2,356.8 2,211.4
Operating Segments | U.S. Insurance Solutions | Specialty Benefits insurance        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 3.8 3.5 7.5 7.3
Fees and other revenues not within the scope of revenue recognition guidance 4.7 4.6 9.5 9.5
Total fees and other revenues 8.5 8.1 17.0 16.8
Premiums and other considerations 616.8 582.5 1,222.1 1,170.9
Net investment income (loss) 42.6 36.4 84.4 78.3
Total operating revenues 667.9 627.0 1,323.5 1,266.0
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 3.8 3.5 7.5 7.3
Operating Segments | U.S. Insurance Solutions | Individual Life insurance        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 15.0 11.0 28.7 23.8
Fees and other revenues not within the scope of revenue recognition guidance 211.5 191.8 431.7 401.8
Total fees and other revenues 226.5 202.8 460.4 425.6
Premiums and other considerations 86.0 81.6 183.2 176.3
Net investment income (loss) 201.6 176.8 389.8 343.6
Total operating revenues 514.1 461.2 1,033.4 945.5
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 6.6 5.0 12.5 10.7
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 8.4 6.0 16.2 13.1
Operating Segments | Corporate        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 55.9 35.9 104.3 68.8
Fees and other revenues not within the scope of revenue recognition guidance (88.5) (69.2) (174.5) (145.3)
Total fees and other revenues (32.6) (33.3) (70.2) (76.5)
Net investment income (loss) 33.7 17.0 62.7 69.5
Total operating revenues 1.1 (16.3) (7.5) (7.0)
Operating Segments | Corporate | Other fee revenue        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 17.4 13.6 33.7 24.7
Operating Segments | Corporate | Commission income        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 95.7 72.6 187.7 153.0
Operating Segments | Corporate | Revenue by type - Eliminations        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers $ (57.2) $ (50.3) $ (117.1) $ (108.9)