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Stockholders' Equity - AOCI and Noncontrolling Interest (Details) - USD ($)
$ in Millions
12 Months Ended
Jan. 01, 2018
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Change in accumulated other comprehensive income (loss) rollforward        
Balances   $ 11,390.0    
Purchase of subsidiary shares from noncontrolling interest   (0.6) $ (24.0) $ (8.9)
Balances   14,618.0 11,390.0  
Change in redeemable noncontrolling interest rollforward        
Redeemable noncontrolling interest, balance at beginning of period $ 101.3 391.2 101.3 97.5
Net income (loss) attributable to redeemable noncontrolling interest   33.6 (2.1) 7.0
Redeemable noncontrolling interest of deconsolidated entities   (505.4) (10.6) (61.1)
Contributions from redeemable noncontrolling interest   402.1 355.0 94.1
Distributions to redeemable noncontrolling interest   (66.3) (36.8) (39.0)
Purchase of subsidiary shares from redeemable noncontrolling interest   (1.1) (7.1) (4.4)
Change in redemption value of redeemable noncontrolling interest   5.4 (7.0) 5.9
Stock-based compensation attributable to redeemable noncontrolling interest   0.1 0.1  
Other comprehensive income (loss) attributable to redeemable noncontrolling interest   5.3 (1.6) 1.3
Redeemable noncontrolling interest, balance at end of period   264.9 391.2 101.3
ASU 2014-09 - Revenue recognition        
Change in accumulated other comprehensive income (loss) rollforward        
Effects of implementation of accounting change (39.7)   (39.7)  
Accumulated other comprehensive income (loss)        
Change in accumulated other comprehensive income (loss) rollforward        
Balances 165.5 (1,565.1) 165.5 (675.2)
Other comprehensive income (loss) during the period, net of adjustments   2,518.6 (1,907.8) 768.3
Amounts reclassified from accumulated other comprehensive income (loss)   84.4 76.6 72.4
Other comprehensive income (loss) attributable to Principal Financial Group, Inc.   2,603.0 (1,831.2) 840.7
Purchase of subsidiary shares from noncontrolling interest     (1.6)  
Balances   1,037.9 (1,565.1) 165.5
Accumulated other comprehensive income (loss) | ASU 2016-01 - Equity investments        
Change in accumulated other comprehensive income (loss) rollforward        
Effects of implementation of accounting change (1.0)   (1.0)  
Accumulated other comprehensive income (loss) | ASU 2014-09 - Revenue recognition        
Change in accumulated other comprehensive income (loss) rollforward        
Effects of implementation of accounting change     25.6  
Accumulated other comprehensive income (loss) | ASU 2018-02 - Reclassification of certain tax effects        
Change in accumulated other comprehensive income (loss) rollforward        
Effects of implementation of accounting change 77.6   77.6  
Net unrealized gains (losses) on available-for-sale securities        
Change in accumulated other comprehensive income (loss) rollforward        
Balances 1,470.7 190.0 1,470.7 831.2
Other comprehensive income (loss) during the period, net of adjustments   2,578.3 (1,580.6) 595.2
Amounts reclassified from accumulated other comprehensive income (loss)   37.7 51.1 44.3
Other comprehensive income (loss) attributable to Principal Financial Group, Inc.   2,616.0 (1,529.5) 639.5
Balances   2,806.0 190.0 1,470.7
Net unrealized gains (losses) on available-for-sale securities | ASU 2016-01 - Equity investments        
Change in accumulated other comprehensive income (loss) rollforward        
Effects of implementation of accounting change     (1.0)  
Net unrealized gains (losses) on available-for-sale securities | ASU 2018-02 - Reclassification of certain tax effects        
Change in accumulated other comprehensive income (loss) rollforward        
Effects of implementation of accounting change     249.8  
Noncredit component of impairment losses on fixed maturities available-for-sale        
Change in accumulated other comprehensive income (loss) rollforward        
Balances (58.3) (47.1) (58.3) (89.5)
Amounts reclassified from accumulated other comprehensive income (loss)   3.0 26.4 31.2
Other comprehensive income (loss) attributable to Principal Financial Group, Inc.   3.0 26.4 31.2
Balances   (44.1) (47.1) (58.3)
Noncredit component of impairment losses on fixed maturities available-for-sale | ASU 2018-02 - Reclassification of certain tax effects        
Change in accumulated other comprehensive income (loss) rollforward        
Effects of implementation of accounting change     (15.2)  
Net unrealized gains (losses) on derivative instruments        
Change in accumulated other comprehensive income (loss) rollforward        
Balances 42.7 64.4 42.7 85.3
Other comprehensive income (loss) during the period, net of adjustments   8.0 51.9 (21.8)
Amounts reclassified from accumulated other comprehensive income (loss)   (19.0) (35.9) (20.8)
Other comprehensive income (loss) attributable to Principal Financial Group, Inc.   (11.0) 16.0 (42.6)
Balances   53.4 64.4 42.7
Net unrealized gains (losses) on derivative instruments | ASU 2018-02 - Reclassification of certain tax effects        
Change in accumulated other comprehensive income (loss) rollforward        
Effects of implementation of accounting change     5.7  
Foreign currency translation adjustment        
Change in accumulated other comprehensive income (loss) rollforward        
Balances (918.5) (1,259.5) (918.5) (1,093.8)
Other comprehensive income (loss) during the period, net of adjustments   (102.7) (283.2) 174.7
Amounts reclassified from accumulated other comprehensive income (loss)   20.4   0.6
Other comprehensive income (loss) attributable to Principal Financial Group, Inc.   (82.3) (283.2) 175.3
Purchase of subsidiary shares from noncontrolling interest     (1.6)  
Balances   (1,341.8) (1,259.5) (918.5)
Foreign currency translation adjustment | ASU 2014-09 - Revenue recognition        
Change in accumulated other comprehensive income (loss) rollforward        
Effects of implementation of accounting change     25.6  
Foreign currency translation adjustment | ASU 2018-02 - Reclassification of certain tax effects        
Change in accumulated other comprehensive income (loss) rollforward        
Effects of implementation of accounting change     (81.8)  
Unrecognized postretirement benefit obligation        
Change in accumulated other comprehensive income (loss) rollforward        
Balances $ (371.1) (512.9) (371.1) (408.4)
Other comprehensive income (loss) during the period, net of adjustments   35.0 (95.9) 20.2
Amounts reclassified from accumulated other comprehensive income (loss)   42.3 35.0 17.1
Other comprehensive income (loss) attributable to Principal Financial Group, Inc.   77.3 (60.9) 37.3
Balances   $ (435.6) (512.9) $ (371.1)
Unrecognized postretirement benefit obligation | ASU 2018-02 - Reclassification of certain tax effects        
Change in accumulated other comprehensive income (loss) rollforward        
Effects of implementation of accounting change     $ (80.9)