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Nature of Operations and Significant Accounting Policies - Balances and changes in MRBs (Details) - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Balances and changes in MRBs      
Balance at beginning of period, market risk benefits $ (98.2)    
Balance at end of period, market risk benefits 20.2 $ (98.2)  
Individual variable annuities | Retirement and Income Solutions      
Balances and changes in MRBs      
Balance at beginning of period, market risk benefits (72.2) (494.7) $ 591.3
Effect of changes in nonperformance risk at beginning of period 31.7 (109.5) 106.7
Adjusted balance at beginning of period, market risk benefits (103.9) (385.2) (484.6)
Interest accrual and expected policyholder behavior (80.9) (90.1) (120.7)
Benefit payments 0.4 1.3 0.4
Changes in interest rates 39.9 539.1 154.3
Changes in equity markets 155.1 (112.4) 106.4
Changes in equity index volatility 47.9 (50.2) 15.1
Actual policyholder behavior different from expected behavior (4.0) 1.5 2.3
Changes in future expected policyholder behavior   (6.1) (96.6)
Changes in other future expected assumptions (5.3) (1.8) 38.2
Adjusted balance at end of period, market risk benefits 49.2 (103.9) (385.2)
Effect of changes in nonperformance risk at end of period (7.7) 31.7 (109.5)
Balance at end of period, market risk benefits 41.5 (72.2) (494.7)
Guaranteed pension | Principal Asset Management | Principal International | Asia      
Balances and changes in MRBs      
Balance at beginning of period, market risk benefits (26.0) (35.1) 53.3
Effect of changes in nonperformance risk at beginning of period (1.2) (4.3) 6.5
Adjusted balance at beginning of period, market risk benefits (24.8) (30.8) (46.8)
Interest accrual and expected policyholder behavior (10.1) (7.1) (5.3)
Benefit payments 13.8 9.5 5.7
Changes in interest rates 1.2 3.9 7.6
Changes in equity markets 0.2 (1.0) 1.4
Actual policyholder behavior different from expected behavior (0.6) 0.7 3.6
Changes in future expected policyholder behavior     0.5
Changes in other future expected assumptions     2.3
Foreign currency translation adjustment     0.2
Adjusted balance at end of period, market risk benefits (20.3) (24.8) (30.8)
Effect of changes in nonperformance risk at end of period (1.0) (1.2) (4.3)
Balance at end of period, market risk benefits $ (21.3) $ (26.0) $ (35.1)