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Stockholders' Equity - AOCI and Noncontrolling Interest (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Change in accumulated other comprehensive income (loss) rollforward        
Balances     $ 9,976.7  
Adjustment for reinsurance   $ 114.6   $ 114.6
Balances $ 10,344.5   10,344.5  
Change in redeemable noncontrolling interest rollforward        
Redeemable noncontrolling interest, balance at beginning of period 272.7 306.8 262.0 332.5
Net income (loss) attributable to redeemable noncontrolling interest 3.6 (23.1) 8.1 (33.4)
Redeemable noncontrolling interest of deconsolidated entities (0.6)   (3.0)  
Contributions from redeemable noncontrolling interest 4.3 7.0 23.3 31.0
Distributions to redeemable noncontrolling interest (14.4) (21.8) (22.8) (61.4)
Purchase of subsidiary shares from redeemable noncontrolling interest     (1.6)  
Change in redemption value of redeemable noncontrolling interest 0.7 0.3 0.1 0.4
Other comprehensive income (loss) attributable to redeemable noncontrolling interest 0.4 (0.7) 0.6 (0.6)
Redeemable noncontrolling interest, balance at end of period 266.7 268.5 266.7 268.5
Accumulated other comprehensive income (loss)        
Change in accumulated other comprehensive income (loss) rollforward        
Balances (6,201.3) (3,461.9) (6,879.0) (2,084.1)
Other comprehensive income (loss) during the period, net of adjustments (130.8) (2,794.7) 483.9 (4,138.4)
Amounts reclassified to accumulated other comprehensive income (loss) 86.9 35.8 149.9 1.7
Other comprehensive income (loss) attributable to Principal Financial Group, Inc. (43.9) (2,758.9) 633.8 (4,136.7)
Adjustment for reinsurance   114.6   114.6
Balances (6,245.2) (6,106.2) (6,245.2) (6,106.2)
Net unrealized gains (losses) on available-for-sale securities        
Change in accumulated other comprehensive income (loss) rollforward        
Balances (4,779.8) (231.8) (5,857.9) 3,880.4
Other comprehensive income (loss) during the period, net of adjustments (625.5) (3,898.3) 390.5 (7,975.1)
Amounts reclassified to accumulated other comprehensive income (loss) 83.1 37.5 145.2 2.1
Other comprehensive income (loss) attributable to Principal Financial Group, Inc. (542.4) (3,860.8) 535.7 (7,973.0)
Adjustment for reinsurance   108.4   108.4
Balances (5,322.2) (3,984.2) (5,322.2) (3,984.2)
Net unrealized gains (losses) on available-for-sale debt securities with allowance for credit losses (1.9) (2.1) (1.9) (2.1)
Net unrealized gains (losses) on derivative instruments        
Change in accumulated other comprehensive income (loss) rollforward        
Balances 39.7 37.8 39.7 56.6
Other comprehensive income (loss) during the period, net of adjustments (4.8) (2.5) (1.9) (15.9)
Amounts reclassified to accumulated other comprehensive income (loss) (1.0) (8.4) (3.9) (13.8)
Other comprehensive income (loss) attributable to Principal Financial Group, Inc. (5.8) (10.9) (5.8) (29.7)
Adjustment for reinsurance   6.2   6.2
Balances 33.9 33.1 33.9 33.1
Liability for future policy benefits discount rate remeasurement gain (loss)        
Change in accumulated other comprehensive income (loss) rollforward        
Balances 200.0 (1,518.5) 740.9 (4,037.6)
Other comprehensive income (loss) during the period, net of adjustments 509.2 1,309.3 (31.7) 3,828.4
Amounts reclassified to accumulated other comprehensive income (loss)     0.0  
Other comprehensive income (loss) attributable to Principal Financial Group, Inc. 509.2 1,309.3 (31.7) 3,828.4
Balances 709.2 (209.2) 709.2 (209.2)
Market risk benefit nonperformance risk gain (loss)        
Change in accumulated other comprehensive income (loss) rollforward        
Balances 30.0 (16.4) 24.0 (90.1)
Other comprehensive income (loss) during the period, net of adjustments (5.6) 60.2 0.4 133.9
Amounts reclassified to accumulated other comprehensive income (loss)     0.0  
Other comprehensive income (loss) attributable to Principal Financial Group, Inc. (5.6) 60.2 0.4 133.9
Balances 24.4 43.8 24.4 43.8
Foreign currency translation adjustment        
Change in accumulated other comprehensive income (loss) rollforward        
Balances (1,440.9) (1,395.0) (1,571.6) (1,548.7)
Other comprehensive income (loss) during the period, net of adjustments 9.5 (265.0) 140.2 (111.3)
Amounts reclassified to accumulated other comprehensive income (loss) 0.3   0.3  
Other comprehensive income (loss) attributable to Principal Financial Group, Inc. 9.8 (265.0) 140.5 (111.3)
Balances (1,431.1) (1,660.0) (1,431.1) (1,660.0)
Unrecognized postretirement benefit obligations        
Change in accumulated other comprehensive income (loss) rollforward        
Balances (250.3) (338.0) (254.1) (344.7)
Other comprehensive income (loss) during the period, net of adjustments (13.6) 1.6 (13.6) 1.6
Amounts reclassified to accumulated other comprehensive income (loss) 4.5 6.7 8.3 13.4
Other comprehensive income (loss) attributable to Principal Financial Group, Inc. (9.1) 8.3 (5.3) 15.0
Balances $ (259.4) $ (329.7) $ (259.4) $ (329.7)