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Revenues from Contracts with Customers - Disaggregation within Segments (Details) - USD ($) $ in Millions | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Revenues from Contracts with Customers - Disaggregation of Revenues |  |  |
Total fees and other revenues | $ 4,095.9 | $ 4,137.8 | $ 5,041.3
Premiums and other considerations | 6,470.9 | 5,339.7 | 4,841.5
Net investment income (loss) | 4,091.9 | 3,838.5 | 4,429.6
Benefits and Protection |  |  |
Revenues from Contracts with Customers - Disaggregation of Revenues |  |  |
Premiums and other considerations | 3,521.4 | 3,306.5 | 2,830.4
Net investment income (loss) | 549.5 | 564.2 | 917.1
Principal Asset Management |  |  |
Revenues from Contracts with Customers - Disaggregation of Revenues |  |  |
Premiums and other considerations | 29.0 | 77.7 | 127.5
Net investment income (loss) | 628.6 | 840.6 | 659.1
Retirement and Income Solutions |  |  |
Revenues from Contracts with Customers - Disaggregation of Revenues |  |  |
Premiums and other considerations | 2,935.0 | 1,959.7 | 1,883.6
Net investment income (loss) | 2,674.3 | 2,252.2 | 2,674.4
Corporate |  |  |
Revenues from Contracts with Customers - Disaggregation of Revenues |  |  |
Premiums and other considerations | (14.5) | (4.2) |
Net investment income (loss) | 239.5 | 181.5 | 179.0
Operating Segments |  |  |
Revenues from Contracts with Customers - Disaggregation of Revenues |  |  |
Total revenues from contracts with customers | 2,814.9 | 2,875.8 | 3,150.1
Total operating revenues | 14,660.2 | 13,400.4 | 14,442.7
Operating Segments | Benefits and Protection |  |  |
Revenues from Contracts with Customers - Disaggregation of Revenues |  |  |
Total revenues from contracts with customers | 89.8 | 80.1 | 75.3
Total operating revenues | 4,551.3 | 4,302.8 | 4,792.4
Operating Segments | Benefits and Protection | Specialty Benefits |  |  |
Revenues from Contracts with Customers - Disaggregation of Revenues |  |  |
Total revenues from contracts with customers | 15.9 | 15.1 | 14.9
Fees and other revenues not within the scope of revenue recognition guidance | 18.2 | 18.6 | 19.0
Total fees and other revenues | 34.1 | 33.7 | 33.9
Premiums and other considerations | 3,020.9 | 2,771.1 | 2,496.4
Net investment income (loss) | 174.4 | 179.8 | 179.3
Total operating revenues | 3,229.4 | 2,984.6 | 2,709.6
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 | 15.9 | 15.1 | 14.9
Operating Segments | Benefits and Protection | Life Insurance |  |  |
Revenues from Contracts with Customers - Disaggregation of Revenues |  |  |
Total revenues from contracts with customers | 74.0 | 65.1 | 60.6
Fees and other revenues not within the scope of revenue recognition guidance | 333.3 | 321.5 | 885.0
Total fees and other revenues | 407.3 | 386.6 | 945.6
Premiums and other considerations | 514.9 | 535.9 | 334.0
Net investment income (loss) | 401.5 | 396.3 | 803.4
Total operating revenues | 1,323.7 | 1,318.8 | 2,083.0
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 | 31.2 | 27.6 | 26.7
Operating Segments | Benefits and Protection | Life Insurance | Commission income |  |  |
Revenues from Contracts with Customers - Disaggregation of Revenues |  |  |
Total revenues from contracts with customers | 42.8 | 37.5 | 33.9
Operating Segments | Principal Asset Management |  |  |
Revenues from Contracts with Customers - Disaggregation of Revenues |  |  |
Total revenues from contracts with customers | 1,989.6 | 2,077.6 | 2,254.6
Total operating revenues | 2,782.3 | 3,181.3 | 3,193.0
Operating Segments | Principal Asset Management | Principal Global Investors |  |  |
Revenues from Contracts with Customers - Disaggregation of Revenues |  |  |
Total revenues from contracts with customers | 1,554.1 | 1,675.0 | 1,787.9
Fees and other revenues not within the scope of revenue recognition guidance | 24.9 | 27.4 | 36.2
Total fees and other revenues | 1,579.0 | 1,702.4 | 1,824.1
Net investment income (loss) | 32.2 | 13.1 | 3.9
Total operating revenues | 1,611.2 | 1,715.5 | 1,828.0
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 | 1,372.0 | 1,434.6 | 1,514.1
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 | 182.1 | 240.4 | 273.8
Operating Segments | Principal Asset Management | Principal International |  |  |
Revenues from Contracts with Customers - Disaggregation of Revenues |  |  |
Total revenues from contracts with customers | 456.5 | 426.3 | 492.7
Fees and other revenues not within the scope of revenue recognition guidance | 5.8 | 4.5 | 4.2
Total fees and other revenues | 462.3 | 430.8 | 496.9
Premiums and other considerations | 29.0 | 77.7 | 127.5
Net investment income (loss) | 701.5 | 980.9 | 766.7
Total operating revenues | 1,192.8 | 1,489.4 | 1,391.1
Operating Segments | Principal Asset Management | Principal International | Latin America |  |  |
Revenues from Contracts with Customers - Disaggregation of Revenues |  |  |
Total revenues from contracts with customers | 346.9 | 315.2 | 364.0
Operating Segments | Principal Asset Management | Principal International | Asia |  |  |
Revenues from Contracts with Customers - Disaggregation of Revenues |  |  |
Total revenues from contracts with customers | 110.4 | 111.5 | 129.6
Operating Segments | Principal Asset Management | Principal International | Geographical Eliminations |  |  |
Revenues from Contracts with Customers - Disaggregation of Revenues |  |  |
Total revenues from contracts with customers | (0.8) | (0.4) | (0.9)
Operating Segments | Principal Asset Management | Principal International | Management fee revenue |  |  |
Revenues from Contracts with Customers - Disaggregation of Revenues |  |  |
Total revenues from contracts with customers | 448.1 | 417.1 | 484.4
Operating Segments | Principal Asset Management | Principal International | Other fee revenue |  |  |
Revenues from Contracts with Customers - Disaggregation of Revenues |  |  |
Total revenues from contracts with customers | 8.4 | 9.2 | 8.3
Operating Segments | Retirement and Income Solutions |  |  |
Revenues from Contracts with Customers - Disaggregation of Revenues |  |  |
Total revenues from contracts with customers | 556.3 | 551.4 | 590.1
Fees and other revenues not within the scope of revenue recognition guidance | 1,118.7 | 1,114.0 | 1,226.9
Total fees and other revenues | 1,675.0 | 1,665.4 | 1,817.0
Premiums and other considerations | 2,935.0 | 1,959.7 | 1,883.6
Net investment income (loss) | 2,640.2 | 2,274.1 | 2,728.8
Total operating revenues | 7,250.2 | 5,899.2 | 6,429.4
Operating Segments | Retirement and Income Solutions | Administrative service fee revenue |  |  |
Revenues from Contracts with Customers - Disaggregation of Revenues |  |  |
Total revenues from contracts with customers | 539.5 | 537.0 | 576.7
Operating Segments | Retirement and Income Solutions | Deposit account fee revenue |  |  |
Revenues from Contracts with Customers - Disaggregation of Revenues |  |  |
Total revenues from contracts with customers | 11.3 | 10.2 | 9.2
Operating Segments | Retirement and Income Solutions | Other fee revenue |  |  |
Revenues from Contracts with Customers - Disaggregation of Revenues |  |  |
Total revenues from contracts with customers | 3.6 | 3.0 | 3.5
Operating Segments | Retirement and Income Solutions | Commission income |  |  |
Revenues from Contracts with Customers - Disaggregation of Revenues |  |  |
Total revenues from contracts with customers | 1.9 | 1.2 | 0.7
Operating Segments | Corporate |  |  |
Revenues from Contracts with Customers - Disaggregation of Revenues |  |  |
Total revenues from contracts with customers | 179.2 | 166.7 | 230.1
Fees and other revenues not within the scope of revenue recognition guidance | (299.0) | (312.6) | (359.3)
Total fees and other revenues | (119.8) | (145.9) | (129.2)
Premiums and other considerations | (14.5) | (4.2) |
Net investment income (loss) | 210.7 | 167.2 | 157.1
Total operating revenues | 76.4 | 17.1 | 27.9
Operating Segments | Corporate | Other fee revenue |  |  |
Revenues from Contracts with Customers - Disaggregation of Revenues |  |  |
Total revenues from contracts with customers | 84.1 | 79.7 | 68.8
Operating Segments | Corporate | Commission income |  |  |
Revenues from Contracts with Customers - Disaggregation of Revenues |  |  |
Total revenues from contracts with customers | 373.9 | 366.2 | 388.9
Operating Segments | Corporate | Revenue by type - Eliminations |  |  |
Revenues from Contracts with Customers - Disaggregation of Revenues |  |  |
Total revenues from contracts with customers | $ (278.8) | $ (279.2) | $ (227.6)

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- Definition Amount, after investment expense, of income earned from investments in securities and real estate. Includes, but is not limited to, real estate investment, policy loans, dividends, and interest. Excludes realized gain (loss) on investments. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Topic 946 -SubTopic 830 -Name Accounting Standards Codification -Section 55 -Paragraph 10 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480167/946-830-55-10 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 944 -SubTopic 220 -Name Accounting Standards Codification -Section S99 -Paragraph 1 -Subparagraph (SX 210.7-04(2)(d)) -Publisher FASB -URI https://asc.fasb.org//1943274/2147483586/944-220-S99-1 Reference 3: http://www.xbrl.org/2003/role/disclosureRef -Topic 946 -SubTopic 220 -Name Accounting Standards Codification -Section S99 -Paragraph 1 -Subparagraph (SX 210.6-07(4)) -Publisher FASB -URI https://asc.fasb.org//1943274/2147483575/946-220-S99-1 Reference 4: http://www.xbrl.org/2003/role/disclosureRef -Topic 944 -SubTopic 220 -Name Accounting Standards Codification -Section S99 -Paragraph 1 -Subparagraph (SX 210.7-04(2)) -Publisher FASB -URI https://asc.fasb.org//1943274/2147483586/944-220-S99-1 Reference 5: http://www.xbrl.org/2003/role/disclosureRef -Name Accounting Standards Codification -Section 45 -Paragraph 5 -SubTopic 220 -Topic 946 -Publisher FASB -URI https://asc.fasb.org//1943274/2147483581/946-220-45-5 + Details
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- Definition Amount, excluding tax collected from customer, of revenue from satisfaction of performance obligation by transferring promised good or service to customer. Tax collected from customer is tax assessed by governmental authority that is both imposed on and concurrent with specific revenue-producing transaction, including, but not limited to, sales, use, value added and excise. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 924 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 11.L) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479941/924-10-S99-1 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 606 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 5 -Publisher FASB -URI https://asc.fasb.org//1943274/2147479806/606-10-50-5 Reference 3: http://www.xbrl.org/2003/role/disclosureRef -Topic 280 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 30 -Subparagraph (a) -Publisher FASB -URI https://asc.fasb.org//1943274/2147482810/280-10-50-30 Reference 4: http://www.xbrl.org/2003/role/disclosureRef -Topic 280 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 42 -Publisher FASB -URI https://asc.fasb.org//1943274/2147482810/280-10-50-42 Reference 5: http://www.xbrl.org/2003/role/disclosureRef -Topic 280 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 22 -Subparagraph (b) -Publisher FASB -URI https://asc.fasb.org//1943274/2147482810/280-10-50-22 Reference 6: http://www.xbrl.org/2003/role/disclosureRef -Topic 280 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 32 -Subparagraph (b) -Publisher FASB -URI https://asc.fasb.org//1943274/2147482810/280-10-50-32 Reference 7: http://www.xbrl.org/2003/role/disclosureRef -Topic 280 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 40 -Publisher FASB -URI https://asc.fasb.org//1943274/2147482810/280-10-50-40 Reference 8: http://www.xbrl.org/2003/role/disclosureRef -Topic 280 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 22 -Subparagraph (a) -Publisher FASB -URI https://asc.fasb.org//1943274/2147482810/280-10-50-22 Reference 9: http://www.xbrl.org/2003/role/disclosureRef -Topic 280 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 32 -Subparagraph (a) -Publisher FASB -URI https://asc.fasb.org//1943274/2147482810/280-10-50-32 Reference 10: http://www.xbrl.org/2003/role/disclosureRef -Topic 280 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 41 -Subparagraph (a) -Publisher FASB -URI https://asc.fasb.org//1943274/2147482810/280-10-50-41 Reference 11: http://www.xbrl.org/2003/role/disclosureRef -Topic 606 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 4 -Subparagraph (a) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479806/606-10-50-4 + Details
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