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Revenues from Contracts with Customers - Disaggregation within Segments (Details) - USD ($)
$ in Millions
 3 Months Ended
Mar. 31, 2022
Mar. 31, 2021
Revenues from Contracts with Customers - Disaggregation of Revenues    
Total fees and other revenues $ 1,215.0 $ 1,193.9
Premiums and other considerations 887.4 835.1
Net investment income (loss) 1,118.1 1,028.1
Operating Segments    
Revenues from Contracts with Customers - Disaggregation of Revenues    
Total revenues from contracts with customers 751.7 738.1
Total operating revenues 3,273.9 3,113.5
Operating Segments | Retirement and Income Solutions    
Revenues from Contracts with Customers - Disaggregation of Revenues    
Total revenues from contracts with customers 144.4 144.3
Total operating revenues 1,283.0 1,224.0
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 141.7 141.9
Fees and other revenues not within the scope of revenue recognition guidance 318.3 313.7
Total fees and other revenues 460.0 455.6
Premiums and other considerations   0.5
Net investment income (loss) 118.8 107.0
Total operating revenues 578.8 563.1
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 141.5 141.8
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 0.2 0.1
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 2.7 2.4
Fees and other revenues not within the scope of revenue recognition guidance 1.1 2.0
Total fees and other revenues 3.8 4.4
Premiums and other considerations 123.3 104.8
Net investment income (loss) 577.1 551.7
Total operating revenues 704.2 660.9
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 2.5 2.3
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 0.1
Operating Segments | Principal Global Investors    
Revenues from Contracts with Customers - Disaggregation of Revenues    
Total revenues from contracts with customers 429.6 406.1
Fees and other revenues not within the scope of revenue recognition guidance 5.3 8.0
Total fees and other revenues 434.9 414.1
Net investment income (loss) 0.4 1.1
Total operating revenues 435.3 415.2
Operating Segments | Principal Global Investors | Management fee revenue    
Revenues from Contracts with Customers - Disaggregation of Revenues    
Total revenues from contracts with customers 379.0 355.9
Operating Segments | Principal Global Investors | Other fee revenue    
Revenues from Contracts with Customers - Disaggregation of Revenues    
Total revenues from contracts with customers 50.6 50.2
Operating Segments | Principal International    
Revenues from Contracts with Customers - Disaggregation of Revenues    
Total revenues from contracts with customers 110.4 121.9
Fees and other revenues not within the scope of revenue recognition guidance 1.2 1.0
Total fees and other revenues 111.6 122.9
Premiums and other considerations 10.3 27.3
Net investment income (loss) 193.0 157.8
Total operating revenues 314.9 308.0
Operating Segments | Principal International | Latin America    
Revenues from Contracts with Customers - Disaggregation of Revenues    
Total revenues from contracts with customers 82.0 89.1
Operating Segments | Principal International | Asia    
Revenues from Contracts with Customers - Disaggregation of Revenues    
Total revenues from contracts with customers 28.3 32.3
Operating Segments | Principal International | Principal International Corporate / Regional Office    
Revenues from Contracts with Customers - Disaggregation of Revenues    
Total revenues from contracts with customers 0.4 0.8
Operating Segments | Principal International | Geographical Eliminations    
Revenues from Contracts with Customers - Disaggregation of Revenues    
Total revenues from contracts with customers (0.3) (0.3)
Operating Segments | Principal International | Management fee revenue    
Revenues from Contracts with Customers - Disaggregation of Revenues    
Total revenues from contracts with customers 107.7 120.1
Operating Segments | Principal International | Other fee revenue    
Revenues from Contracts with Customers - Disaggregation of Revenues    
Total revenues from contracts with customers 2.7 1.8
Operating Segments | U.S. Insurance Solutions    
Revenues from Contracts with Customers - Disaggregation of Revenues    
Total revenues from contracts with customers 19.4 17.4
Total operating revenues 1,241.0 1,174.9
Operating Segments | U.S. Insurance Solutions | Specialty Benefits insurance    
Revenues from Contracts with Customers - Disaggregation of Revenues    
Total revenues from contracts with customers 4.0 3.7
Fees and other revenues not within the scope of revenue recognition guidance 4.7 4.8
Total fees and other revenues 8.7 8.5
Premiums and other considerations 665.6 605.3
Net investment income (loss) 43.4 41.8
Total operating revenues 717.7 655.6
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 4.0 3.7
Operating Segments | U.S. Insurance Solutions | Individual Life insurance    
Revenues from Contracts with Customers - Disaggregation of Revenues    
Total revenues from contracts with customers 15.4 13.7
Fees and other revenues not within the scope of revenue recognition guidance 226.0 220.2
Total fees and other revenues 241.4 233.9
Premiums and other considerations 88.8 97.2
Net investment income (loss) 193.2 188.2
Total operating revenues 523.4 519.3
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 6.8 5.9
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 8.6 7.8
Operating Segments | Corporate    
Revenues from Contracts with Customers - Disaggregation of Revenues    
Total revenues from contracts with customers 47.9 48.4
Fees and other revenues not within the scope of revenue recognition guidance (91.4) (86.0)
Total fees and other revenues (43.5) (37.6)
Premiums and other considerations (0.5)  
Net investment income (loss) 43.7 29.0
Total operating revenues (0.3) (8.6)
Operating Segments | Corporate | Other fee revenue    
Revenues from Contracts with Customers - Disaggregation of Revenues    
Total revenues from contracts with customers 19.8 16.3
Operating Segments | Corporate | Commission income    
Revenues from Contracts with Customers - Disaggregation of Revenues    
Total revenues from contracts with customers 97.2 92.0
Operating Segments | Corporate | Revenue by type - Eliminations    
Revenues from Contracts with Customers - Disaggregation of Revenues    
Total revenues from contracts with customers $ (69.1) $ (59.9)