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Separate Account Balances - Principal Asset Management - Principal International (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Changes in separate account liabilities    
Balance at beginning of period $ 155,375.1  
Balance at end of period 167,605.6 $ 155,375.1
Principal Asset Management | Principal International    
Changes in separate account liabilities    
Balance at beginning of period 34,231.7  
Balance at end of period 34,724.8 34,231.7
Principal Asset Management | Principal International | Pension | Latin America    
Changes in separate account liabilities    
Balance at beginning of period 33,316.7 33,030.6
Premiums and deposits 3,628.6 3,620.4
Policy charges (17.8) (18.2)
Surrenders, withdrawals and benefit payments (4,191.7) (3,984.6)
Investment performance 2,733.7 498.8
Other 7.6 (0.8)
Foreign currency translation adjustment (896.5) 170.5
Balance at end of period 34,580.6 33,316.7
Cash surrender value 34,580.6 33,316.7
Principal Asset Management | Principal International | Guaranteed pension | Asia    
Changes in separate account liabilities    
Balance at beginning of period 915.0 971.3
Premiums and deposits 217.2 276.2
Policy charges (16.9) (19.8)
Surrenders, withdrawals and benefit payments (1,006.8) (247.0)
Investment performance 37.7 (64.0)
Other (0.3) (0.4)
Foreign currency translation adjustment (1.7) (1.3)
Balance at end of period 144.2 915.0
Cash surrender value $ 144.2 $ 915.0