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Schedule II - Condensed Financial Information of Registrant (Parent Only) - Financial Statement Footnotes (Details) - Principal Financial Group, Inc. Parent Only - Legal Entities - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Condensed Financial Statements, Captions [Line Items] |  |  |
Assets held in Rabbi trusts | $ 896.1 | $ 852.3 |
Liabilities held in Rabbi trusts | $ 724.9 | $ 691.8 |
Defined Benefit Plan, Tax Status [Extensible Enumeration] | Nonqualified benefit plans | Nonqualified benefit plans |
Dividends and Returns of Capital Received from (Contributed to) Unconsolidated Entity |  |  |
Dividends and returns of capital received from (contributed to) unconsolidated entities | $ 1,239.0 | $ 1,660.3 | $ 1,826.3

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