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Nature of Operations and Significant Accounting Policies - Cash and Cash Equivalents, Investments (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Cash and Cash Equivalents
Maximum maturity period when purchased for investments to be included in cash and cash equivalents	3 months
Investments
Real estate held for sale	$ 230.6	$ 240.6

X

- Definition

Represents the maximum number of months for the maturity date of an investment when purchased for it to be included in cash and cash equivalents.

+ References

No definition available.

+ Details

Name:	pfg_CashAndCashEquivalentsMaximumMaturityPeriod
Namespace Prefix:	pfg_
Data Type:	xbrli:durationItemType
Balance Type:	na
Period Type:	duration

X

- References

No definition available.

+ Details

Name:	us-gaap_CashAndCashEquivalentsAbstract
Namespace Prefix:	us-gaap_
Data Type:	xbrli:stringItemType
Balance Type:	na
Period Type:	duration

X

- References

No definition available.

+ Details

Name:	us-gaap_InvestmentsAbstract
Namespace Prefix:	us-gaap_
Data Type:	xbrli:stringItemType
Balance Type:	na
Period Type:	duration

X

- Definition

Amount of investment in land and building held for sale. Excludes real estate considered inventory.

+ References

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Topic 944
-SubTopic 210
-Name Accounting Standards Codification
-Section S99
-Paragraph 1
-Subparagraph (SX 210.7-03(a)(1)(d))
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479440/944-210-S99-1

+ Details

Name:	us-gaap_RealEstateHeldforsale
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	instant