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Revenues from Contracts with Customers - Disaggregation within Segments (Details) - USD ($)
$ in Millions
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total fees and other revenues $ 1,017.6 $ 911.5 $ 2,012.9 $ 2,130.7
Premiums and other considerations 1,492.7 1,366.2 2,941.3 2,253.6
Net investment income (loss) 988.1 819.9 1,974.8 1,945.4
Operating Segments        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 699.0 748.2 1,384.1 1,498.4
Total operating revenues 3,500.5 3,122.6 6,940.1 6,391.1
Operating Segments | Benefits and Protection        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 22.5 19.8 43.1 39.2
Total operating revenues 1,125.3 903.4 2,228.7 2,146.7
Operating Segments | Benefits and Protection | Specialty Benefits        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 4.1 3.7 8.0 7.7
Fees and other revenues not within the scope of revenue recognition guidance 4.5 4.5 9.1 9.2
Total fees and other revenues 8.6 8.2 17.1 16.9
Premiums and other considerations 741.6 686.8 1,475.2 1,352.4
Net investment income (loss) 42.0 56.6 82.1 100.0
Total operating revenues 792.2 751.6 1,574.4 1,469.3
Operating Segments | Benefits and Protection | Specialty Benefits | Administrative service fee revenue        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 4.1 3.7 8.0 7.7
Operating Segments | Benefits and Protection | Life Insurance        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 18.4 16.2 35.1 31.6
Fees and other revenues not within the scope of revenue recognition guidance 83.7 (69.2) 161.0 159.1
Total fees and other revenues 102.1 (53.0) 196.1 190.7
Premiums and other considerations 126.9 183.6 257.7 272.4
Net investment income (loss) 104.2 21.4 200.8 214.6
Total operating revenues 333.2 152.0 654.6 677.7
Operating Segments | Benefits and Protection | Life Insurance | Administrative service fee revenue        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 7.5 7.1 14.7 13.9
Operating Segments | Benefits and Protection | Life Insurance | Commission income        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 10.9 9.1 20.4 17.7
Operating Segments | Principal Asset Management        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 492.0 554.8 981.2 1,088.2
Total operating revenues 686.9 902.4 1,379.4 1,658.3
Operating Segments | Principal Asset Management | Principal Global Investors        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 380.5 451.6 761.8 881.2
Fees and other revenues not within the scope of revenue recognition guidance 2.6 8.9 7.2 14.2
Total fees and other revenues 383.1 460.5 769.0 895.4
Net investment income (loss) 7.0 3.1 13.8 3.5
Total operating revenues 390.1 463.6 782.8 898.9
Operating Segments | Principal Asset Management | Principal Global Investors | Management fee revenue        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 340.9 364.5 680.6 743.5
Operating Segments | Principal Asset Management | Principal Global Investors | Other fee revenue        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 39.6 87.1 81.2 137.7
Operating Segments | Principal Asset Management | Principal International        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 116.9 109.2 230.1 219.6
Fees and other revenues not within the scope of revenue recognition guidance 1.5 1.1 2.9 2.3
Total fees and other revenues 118.4 110.3 233.0 221.9
Premiums and other considerations 8.5 30.1 14.9 40.4
Net investment income (loss) 175.4 304.4 359.5 509.7
Total operating revenues 302.3 444.8 607.4 772.0
Operating Segments | Principal Asset Management | Principal International | Latin America        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 89.2 82.1 175.1 164.2
Operating Segments | Principal Asset Management | Principal International | Asia        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 27.9 27.3 55.4 55.8
Operating Segments | Principal Asset Management | Principal International | Geographical Eliminations        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers (0.2) (0.2) (0.4) (0.4)
Operating Segments | Principal Asset Management | Principal International | Management fee revenue        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 115.0 106.8 225.9 214.5
Operating Segments | Principal Asset Management | Principal International | Other fee revenue        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 1.9 2.4 4.2 5.1
Operating Segments | Retirement and Income Solutions        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 139.6 141.3 269.8 285.7
Fees and other revenues not within the scope of revenue recognition guidance 278.1 271.9 556.4 571.3
Total fees and other revenues 417.7 413.2 826.2 857.0
Premiums and other considerations 619.3 467.0 1,202.0 590.3
Net investment income (loss) 636.7 437.6 1,261.6 1,133.5
Total operating revenues 1,673.7 1,317.8 3,289.8 2,580.8
Operating Segments | Retirement and Income Solutions | Administrative service fee revenue        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 135.3 137.5 261.8 279.0
Operating Segments | Retirement and Income Solutions | Deposit account fee revenue        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 2.8 2.5 5.7 5.0
Operating Segments | Retirement and Income Solutions | Other fee revenue        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 1.1 1.0 1.5 1.2
Operating Segments | Retirement and Income Solutions | Commission income        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 0.4 0.3 0.8 0.5
Operating Segments | Corporate        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 44.9 32.3 90.0 85.3
Fees and other revenues not within the scope of revenue recognition guidance (71.7) (77.9) (147.3) (167.6)
Total fees and other revenues (26.8) (45.6) (57.3) (82.3)
Premiums and other considerations (1.2) (1.2) (2.5) (1.7)
Net investment income (loss) 42.6 45.8 102.0 89.3
Total operating revenues 14.6 (1.0) 42.2 5.3
Operating Segments | Corporate | Other fee revenue        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 20.7 18.9 41.2 38.7
Operating Segments | Corporate | Commission income        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 94.1 93.4 182.0 190.6
Operating Segments | Corporate | Revenue by type - Eliminations        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers $ (69.9) $ (80.0) $ (133.2) $ (144.0)