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Schedule II - Condensed Financial Information of Registrant (Parent Only) - Statements of Cash Flows (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Operating activities      
Net income (loss) $ 670.1 $ 4,797.5 $ 1,627.0
Adjustments to reconcile net income to net cash provided by operating activities:      
Net realized capital (gains) losses [1] 72.2 182.1 (115.4)
Stock-based compensation 99.4 91.3 96.1
Changes in:      
Net cash flows for trading securities and equity securities with operating intent (56.0) (339.5) 99.9
Current and deferred income tax benefits (40.5) 854.8 117.9
Other (146.5) (125.9) (15.4)
Net cash provided by (used in) operating activities 3,792.4 3,172.9 3,254.4
Investing activities      
Fixed maturities available-for-sale and equity securities with intent to hold: Purchases (11,417.0) (19,352.6) (16,625.5)
Sales 5,888.3 14,729.7 2,735.3
Maturities 5,190.8 6,853.7 10,960.0
Net (purchases) sales of property and equipment (102.0) (116.3) (129.9)
Net change in other investments (919.3) (68.2) (142.6)
Net cash provided by (used in) investing activities (1,346.9) 1,058.5 (5,693.7)
Financing activities      
Issuance of common stock 57.8 181.7 86.7
Acquisition of treasury stock (740.4) (1,661.1) (937.2)
Dividends to common stockholders (625.5) (642.3) (654.1)
Principal repayments of long-term debt (764.0) (302.0) (1.8)
Issuance of long-term debt 691.5 15.4  
Net cash provided by (used in) financing activities (2,585.8) (1,715.4) 1,921.5
Net increase (decrease) in cash and cash equivalents (140.3) 2,516.0 (517.8)
Cash and cash equivalents at beginning of period 4,848.0 2,332.0 2,849.8
Cash and cash equivalents at end of period 4,707.7 4,848.0 2,332.0
Principal Financial Group, Inc. Parent Only | Legal Entities      
Operating activities      
Net income (loss) 623.2 4,756.9 1,580.2
Adjustments to reconcile net income to net cash provided by operating activities:      
Net realized capital (gains) losses   53.6 14.9
Stock-based compensation 1.7 1.7 1.6
Equity in the net (income) loss of subsidiaries (787.8) (4,948.8) (1,701.9)
Changes in:      
Net cash flows for trading securities and equity securities with operating intent   99.9 66.1
Current and deferred income tax benefits (10.7) (2.5) (4.8)
Other 27.0 (30.1) (34.4)
Net cash provided by (used in) operating activities (146.6) (69.3) (78.3)
Investing activities      
Fixed maturities available-for-sale and equity securities with intent to hold: Purchases     (462.3)
Sales   935.9  
Maturities 1.9 52.7 190.2
Net (purchases) sales of property and equipment (0.1) (0.1) (0.1)
Net change in other investments 0.6 14.3 46.7
Dividends and returns of capital received from (contributed to) unconsolidated entities 1,239.0 1,660.3 1,826.3
Net cash provided by (used in) investing activities 1,241.4 2,663.1 1,600.8
Financing activities      
Issuance of common stock 57.8 181.7 86.7
Acquisition of treasury stock (740.4) (1,661.0) (937.2)
Dividends to common stockholders (625.5) (642.3) (654.1)
Principal repayments of long-term debt (700.0) (300.0)  
Issuance of long-term debt 691.5    
Net cash provided by (used in) financing activities (1,316.6) (2,421.6) (1,504.6)
Net increase (decrease) in cash and cash equivalents (221.8) 172.2 17.9
Cash and cash equivalents at beginning of period 492.5 320.3 302.4
Cash and cash equivalents at end of period $ 270.7 $ 492.5 $ 320.3
[1] Includes realized and unrealized gains (losses). See Note 4, Investments, for further details.