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Revenues from Contracts with Customers - Disaggregation within Segments (Details) - USD ($)
$ in Millions
 3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total fees and other revenues $ 1,061.4 $ 1,017.6 $ 2,114.3 $ 2,012.9
Premiums and other considerations 1,926.6 1,492.7 3,611.2 2,941.3
Net investment income (loss) 1,086.1 988.1 2,158.3 1,974.8
Operating Segments        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 750.6 699.0 1,489.1 1,384.1
Total operating revenues 4,072.7 3,500.5 7,877.4 6,940.1
Operating Segments | Benefits and Protection        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 28.1 22.5 52.8 43.1
Total operating revenues 1,187.2 1,125.3 2,373.1 2,228.7
Operating Segments | Benefits and Protection | Specialty Benefits        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 4.0 4.1 7.8 8.0
Fees and other revenues not within the scope of revenue recognition guidance 4.4 4.5 9.0 9.1
Total fees and other revenues 8.4 8.6 16.8 17.1
Premiums and other considerations 805.1 741.6 1,598.0 1,475.2
Net investment income (loss) 44.8 42.0 91.8 82.1
Total operating revenues 858.3 792.2 1,706.6 1,574.4
Operating Segments | Benefits and Protection | Specialty Benefits | Administrative service fee revenue        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 4.0 4.1 7.8 8.0
Operating Segments | Benefits and Protection | Life Insurance        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 24.2 18.4 45.1 35.1
Fees and other revenues not within the scope of revenue recognition guidance 82.5 83.7 166.7 161.0
Total fees and other revenues 106.7 102.1 211.8 196.1
Premiums and other considerations 120.3 126.9 249.2 257.7
Net investment income (loss) 102.1 104.2 205.9 200.8
Total operating revenues 329.1 333.2 666.9 654.6
Operating Segments | Benefits and Protection | Life Insurance | Administrative service fee revenue        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 10.7 7.5 18.6 14.7
Operating Segments | Benefits and Protection | Life Insurance | Commission income        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 13.5 10.9 26.5 20.4
Operating Segments | Principal Asset Management        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 502.0 492.0 998.6 981.2
Total operating revenues 684.8 686.9 1,340.1 1,379.4
Operating Segments | Principal Asset Management | Principal Global Investors        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 392.5 380.5 781.5 761.8
Fees and other revenues not within the scope of revenue recognition guidance 5.9 2.6 11.3 7.2
Total fees and other revenues 398.4 383.1 792.8 769.0
Net investment income (loss) 11.9 7.0 22.3 13.8
Total operating revenues 410.3 390.1 815.1 782.8
Operating Segments | Principal Asset Management | Principal Global Investors | Management fee revenue        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 355.2 340.9 707.5 680.6
Operating Segments | Principal Asset Management | Principal Global Investors | Other fee revenue        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 37.3 39.6 74.0 81.2
Operating Segments | Principal Asset Management | Principal International        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 113.9 116.9 227.4 230.1
Fees and other revenues not within the scope of revenue recognition guidance 1.5 1.5 2.8 2.9
Total fees and other revenues 115.4 118.4 230.2 233.0
Premiums and other considerations 11.2 8.5 13.2 14.9
Net investment income (loss) 152.4 175.4 292.3 359.5
Total operating revenues 279.0 302.3 535.7 607.4
Operating Segments | Principal Asset Management | Principal International | Latin America        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 86.3 89.2 173.0 175.1
Operating Segments | Principal Asset Management | Principal International | Asia        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 27.7 27.9 54.7 55.4
Operating Segments | Principal Asset Management | Principal International | Geographical Eliminations        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers (0.1) (0.2) (0.3) (0.4)
Operating Segments | Principal Asset Management | Principal International | Management fee revenue        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 112.5 115.0 223.5 225.9
Operating Segments | Principal Asset Management | Principal International | Other fee revenue        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 1.4 1.9 3.9 4.2
Operating Segments | Retirement and Income Solutions        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 164.7 139.6 324.0 269.8
Fees and other revenues not within the scope of revenue recognition guidance 275.5 278.1 554.8 556.4
Total fees and other revenues 440.2 417.7 878.8 826.2
Premiums and other considerations 999.5 619.3 1,765.1 1,202.0
Net investment income (loss) 754.6 636.7 1,482.8 1,261.6
Total operating revenues 2,194.3 1,673.7 4,126.7 3,289.8
Operating Segments | Retirement and Income Solutions | Administrative service fee revenue        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 160.8 135.3 316.3 261.8
Operating Segments | Retirement and Income Solutions | Deposit account fee revenue        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 3.0 2.8 6.1 5.7
Operating Segments | Retirement and Income Solutions | Other fee revenue        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers   1.1   1.5
Operating Segments | Retirement and Income Solutions | Commission income        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 0.9 0.4 1.6 0.8
Operating Segments | Corporate        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 55.8 44.9 113.7 90.0
Fees and other revenues not within the scope of revenue recognition guidance (77.8) (71.7) (157.1) (147.3)
Total fees and other revenues (22.0) (26.8) (43.4) (57.3)
Premiums and other considerations (1.3) (1.2) (2.6) (2.5)
Net investment income (loss) 29.7 42.6 83.5 102.0
Total operating revenues 6.4 14.6 37.5 42.2
Operating Segments | Corporate | Other fee revenue        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 22.4 20.7 44.1 41.2
Operating Segments | Corporate | Commission income        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers 116.9 94.1 222.4 182.0
Operating Segments | Corporate | Revenue by type - Eliminations        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total revenues from contracts with customers $ (83.5) $ (69.9) $ (152.8) $ (133.2)