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Nature of Operations and Significant Accounting Policies - Balances and changes in MRBs (Details) - USD ($) $ in Millions | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Balances and changes in MRBs |  |  |
Balance at beginning of period, market risk benefits | $ (98.2) |  |
Balance at end of period, market risk benefits | 20.2 | $ (98.2) |
Individual variable annuities | Retirement and Income Solutions |  |  |
Balances and changes in MRBs |  |  |
Balance at beginning of period, market risk benefits | (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, market risk benefits | (103.9) | (385.2) | (484.6)
Interest accrual and expected policyholder behavior | (80.9) | (90.1) | (120.7)
Benefit payments | 0.4 | 1.3 | 0.4
Changes in interest rates | 39.9 | 539.1 | 154.3
Changes in equity markets | 155.1 | (112.4) | 106.4
Changes in equity index volatility | 47.9 | (50.2) | 15.1
Actual policyholder behavior different from expected behavior | (4.0) | 1.5 | 2.3
Changes in future expected policyholder behavior |  | (6.1) | (96.6)
Changes in other future expected assumptions | (5.3) | (1.8) | 38.2
Adjusted balance at end of period, market risk benefits | 49.2 | (103.9) | (385.2)
Effect of changes in nonperformance risk at end of period | (7.7) | 31.7 | (109.5)
Balance at end of period, market risk benefits | 41.5 | (72.2) | (494.7)
Guaranteed pension | Principal Asset Management | Principal International | Asia |  |  |
Balances and changes in MRBs |  |  |
Balance at beginning of period, market risk benefits | (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, market risk benefits | (24.8) | (30.8) | (46.8)
Interest accrual and expected policyholder behavior | (10.1) | (7.1) | (5.3)
Benefit payments | 13.8 | 9.5 | 5.7
Changes in interest rates | 1.2 | 3.9 | 7.6
Changes in equity markets | 0.2 | (1.0) | 1.4
Actual policyholder behavior different from expected behavior | (0.6) | 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, market risk benefits | (20.3) | (24.8) | (30.8)
Effect of changes in nonperformance risk at end of period | (1.0) | (1.2) | (4.3)
Balance at end of period, market risk benefits | $ (21.3) | $ (26.0) | $ (35.1)

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- Definition Amount of increase (decrease) in contract or contract feature in long-duration contract issued by insurance entity that both protects contract holder from other-than-nominal capital market risk and exposes insurance entity to other-than-nominal capital market risk from change associated with foreign currency translation adjustment. + References No definition available. + Details
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- Definition Amount, before tax, of accumulated other comprehensive income (loss) (AOCI) from (increase) decrease in instrument-specific credit risk on contract or contract feature in long-duration contract issued by insurance entity protecting contract holder from other-than-nominal capital market risk and exposing insurance entity to other-than-nominal capital market risk. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Topic 944 -SubTopic 40 -Name Accounting Standards Codification -Section 55 -Paragraph 29G -Publisher FASB -URI https://asc.fasb.org//1943274/2147480046/944-40-55-29G Reference 2: http://www.xbrl.org/2009/role/commonPracticeRef -Topic 944 -SubTopic 40 -Name Accounting Standards Codification -Section 65 -Paragraph 2 -Subparagraph (h)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480016/944-40-65-2 Reference 3: http://www.xbrl.org/2009/role/commonPracticeRef -Topic 944 -SubTopic 40 -Name Accounting Standards Codification -Section 50 -Paragraph 7B -Subparagraph (a) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480081/944-40-50-7B Reference 4: http://www.xbrl.org/2003/role/exampleRef -Topic 944 -SubTopic 40 -Name Accounting Standards Codification -Section 55 -Paragraph 13K -Subparagraph (k) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480046/944-40-55-13K + Details
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- Definition Amount, before effect of reinsurance and after accumulated increase (decrease) in instrument-specific credit risk, of contract or contract feature in long-duration contract issued by insurance entity that both protects contract holder from other-than-nominal capital market risk and exposes insurance entity to other-than-nominal capital market risk. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 944 -SubTopic 40 -Name Accounting Standards Codification -Section 65 -Paragraph 2 -Subparagraph (h)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480016/944-40-65-2 Reference 2: http://www.xbrl.org/2003/role/exampleRef -Topic 944 -SubTopic 40 -Name Accounting Standards Codification -Section 55 -Paragraph 29G -Publisher FASB -URI https://asc.fasb.org//1943274/2147480046/944-40-55-29G Reference 3: http://www.xbrl.org/2003/role/disclosureRef -Topic 944 -SubTopic 40 -Name Accounting Standards Codification -Section 50 -Paragraph 7B -Subparagraph (a) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480081/944-40-50-7B Reference 4: http://www.xbrl.org/2003/role/disclosureRef -Topic 944 -SubTopic 40 -Name Accounting Standards Codification -Section 45 -Paragraph 3 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480112/944-40-45-3 + Details
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