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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