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Nature of Operations and Significant Accounting Policies - Balances and changes in MRBs (Details) - USD ($)
$ in Millions
 6 Months Ended 12 Months Ended
Jun. 30, 2023
Dec. 31, 2022
Dec. 31, 2021
Balances and changes in MRBs      
Balance at beginning of period $ (98.2)    
Balance at end of period 12.5 $ (98.2)  
Individual variable annuities | Retirement and Income Solutions      
Balances and changes in MRBs      
Balance at beginning of period (72.2) (494.7) $ (591.3)
Effect of changes in nonperformance risk at beginning of period 31.7 (109.5) 106.7
Adjusted balance at beginning of period (103.9) (385.2) (484.6)
Interest accrual and expected policyholder behavior (36.9) (90.1) (120.7)
Benefit payments 0.3 1.3 0.4
Changes in interest rates (6.1) 539.1 154.3
Changes in equity markets 106.1 (112.4) 106.4
Changes in equity index volatility 47.4 (50.2) 15.1
Actual policyholder behavior different from expected behavior (2.6) 1.5 2.3
Changes in future expected policyholder behavior 0.0 (6.1) (96.6)
Changes in other future expected assumptions 0.0 (1.8) 38.2
Adjusted balance at end of period 4.3 (103.9) (385.2)
Effect of changes in nonperformance risk at end of period 31.8 31.7 (109.5)
Balance at end of period 36.1 (72.2) (494.7)
Guaranteed pension | Principal Asset Management | Principal International | Asia      
Balances and changes in MRBs      
Balance at beginning of period (26.0) (35.1) (53.3)
Effect of changes in nonperformance risk at beginning of period (1.2) (4.3) 6.5
Adjusted balance at beginning of period (24.8) (30.8) (46.8)
Interest accrual and expected policyholder behavior (5.4) (7.1) (5.3)
Benefit payments 7.1 9.5 5.7
Changes in interest rates 0.1 3.9 7.6
Changes in equity markets   (1.0) 1.4
Actual policyholder behavior different from expected behavior 0.2 0.7 3.6
Changes in future expected policyholder behavior     0.5
Changes in other future expected assumptions     2.3
Foreign currency translation adjustment     0.2
Adjusted balance at end of period (22.7) (24.8) (30.8)
Effect of changes in nonperformance risk at end of period (0.9) (1.2) (4.3)
Balance at end of period $ (23.6) $ (26.0) $ (35.1)