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Schedule II - Condensed Financial Information of Registrant (Parent Only) - Statements of Financial Position - Parenthetical (Details) - $ / shares
Dec. 31, 2023
Dec. 31, 2022
Condensed Financial Statements, Captions [Line Items]    
Common stock, par value (in dollars per share) $ 0.01 $ 0.01
Common stock, authorized (in shares) 2,500,000,000 2,500,000,000
Common stock, issued (in shares) 492,279,405 489,809,564
Common stock, outstanding (in shares) 236,438,294 243,549,782
Treasury stock (in shares) 255,841,111 246,259,782
Principal Financial Group, Inc. Parent Only | Legal Entities    
Condensed Financial Statements, Captions [Line Items]    
Common stock, par value (in dollars per share) $ 0.01 $ 0.01
Common stock, authorized (in shares) 2,500,000,000 2,500,000,000
Common stock, issued (in shares) 492,279,405 489,809,564
Common stock, outstanding (in shares) 236,438,294 243,549,782
Treasury stock (in shares) 255,841,111 246,259,782