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Nature of Operations and Significant Accounting Policies - Retirement and Income Solutions and Principal Asset Management - Principal International (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Retirement and Income Solutions | Pension risk transfer      
Present value of expected future policy benefit payments      
Balance at beginning of period, Present value of expected future policy benefit payments $ 21,211.4 $ 25,365.8 $ 25,863.7
Effect of changes in discount rate assumptions at beginning of period 1,799.6 (3,386.5) (4,827.9)
Balance at beginning of period at original discount rate 23,011.0 21,979.3 21,035.8
Effect of actual variances from expected experience (14.6) (3.2) (2.4)
Adjusted beginning of period balance at original discount rate 22,943.0 21,968.2 21,033.4
Interest accrual 1,008.6 935.7 916.7
Benefit payments (1,981.4) (1,841.7) (1,772.5)
Issuances 2,921.7 1,948.8 1,801.7
Balance at end of period at original discount rate 24,891.9 23,011.0 21,979.3
Effect of changes in discount rate assumptions at end of period (1,036.1) (1,799.6) 3,386.5
Balance at end of period, Present value of expected future policy benefit payments 23,855.8 21,211.4 25,365.8
Retirement and Income Solutions | Individual fixed income annuities      
Present value of expected future policy benefit payments      
Balance at beginning of period, Present value of expected future policy benefit payments 5,019.4 6,535.0 7,145.8
Effect of changes in discount rate assumptions at beginning of period 439.0 (812.6) (1,213.5)
Balance at beginning of period at original discount rate 5,458.4 5,722.4 5,932.3
Effect of actual variances from expected experience (0.1)   (1.3)
Adjusted beginning of period balance at original discount rate 5,457.0 5,719.4 5,931.0
Interest accrual 219.1 229.7 240.5
Benefit payments (507.3) (520.4) (532.0)
Issuances 42.0 29.7 82.9
Balance at end of period at original discount rate 5,210.8 5,458.4 5,722.4
Effect of changes in discount rate assumptions at end of period (296.7) (439.0) 812.6
Balance at end of period, Present value of expected future policy benefit payments 4,914.1 5,019.4 6,535.0
Principal Asset Management | Principal International | Latin America | Individual fixed income annuities      
Present value of expected future policy benefit payments      
Balance at beginning of period, Present value of expected future policy benefit payments 5,042.3 4,336.8 6,561.5
Effect of changes in discount rate assumptions at beginning of period (754.6) (478.5) (2,096.0)
Balance at beginning of period at original discount rate 4,287.7 3,858.3 4,465.5
Effect of actual variances from expected experience 0.9 (4.7) (4.9)
Adjusted beginning of period balance at original discount rate 4,288.6 3,853.6 4,460.6
Interest accrual 385.8 662.0 444.3
Benefit payments (355.9) (325.8) (436.0)
Issuances 30.0 86.4 141.3
Foreign currency translation adjustment (106.6) 11.5 (751.9)
Balance at end of period at original discount rate 4,241.9 4,287.7 3,858.3
Effect of changes in discount rate assumptions at end of period 351.8 754.6 478.5
Balance at end of period, Present value of expected future policy benefit payments $ 4,593.7 $ 5,042.3 $ 4,336.8