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Condensed Consolidating Financial Information - Shelf Registration Guarantor, Statements of Cash Flows (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2020
Mar. 31, 2019
Operating activities    
Net cash provided by (used in) operating activities $ 1,589.1 $ 1,176.4
Investing activities    
Fixed maturities available-for-sale and equity securities with intent to hold: Purchases (3,190.1) (2,886.7)
Fixed maturities available-for-sale and equity securities with intent to hold: Sales 582.4 342.6
Fixed maturities available-for-sale and equity securities with intent to hold: Maturities 1,984.1 1,548.9
Mortgage loans acquired or originated (827.3) (625.1)
Mortgage loans sold or repaid 581.6 382.4
Real estate acquired (39.6) (10.5)
Net purchases of property and equipment (18.0) (29.4)
Net change in other investments 14.2 (213.3)
Net cash provided by (used in) investing activities (912.7) (1,491.1)
Financing activities    
Issuance of common stock 9.0 5.8
Acquisition of treasury stock (231.8) (153.6)
Payments for financing element derivatives (7.1) (6.5)
Purchase of subsidiary shares from noncontrolling interest (0.9)  
Dividends to common stockholders (153.6) (150.2)
Issuance of long-term debt   6.7
Principal repayments of long-term debt (64.5) (0.3)
Net proceeds from short-term borrowings 24.6 0.1
Investment contract deposits 2,725.7 1,872.2
Investment contract withdrawals (2,255.6) (1,947.4)
Net increase (decrease) in banking operation deposits 244.5 (35.4)
Other 0.1 5.5
Net cash provided by (used in) financing activities 290.4 (403.1)
Net increase (decrease) in cash and cash equivalents 966.8 (717.8)
Cash and cash equivalents at beginning of period 2,515.9 2,977.5
Cash and cash equivalents at end of period 3,482.7 2,259.7
Principal Financial Group, Inc. parent only | Legal Entities    
Operating activities    
Net cash provided by (used in) operating activities 20.9 27.5
Investing activities    
Fixed maturities available-for-sale and equity securities with intent to hold: Purchases (63.2) (150.2)
Fixed maturities available-for-sale and equity securities with intent to hold: Maturities 43.2 153.1
Dividends and returns of capital received from unconsolidated entities 433.9 208.9
Net change in other investments   (6.0)
Net cash provided by (used in) investing activities 413.9 205.8
Financing activities    
Issuance of common stock 9.0 5.8
Acquisition of treasury stock (231.8) (153.6)
Dividends to common stockholders (153.6) (150.2)
Net cash provided by (used in) financing activities (376.4) (298.0)
Net increase (decrease) in cash and cash equivalents 58.4 (64.7)
Cash and cash equivalents at beginning of period 394.9 334.9
Cash and cash equivalents at end of period 453.3 270.2
Principal Financial Services, Inc. only | Legal Entities    
Operating activities    
Net cash provided by (used in) operating activities 40.1 (22.1)
Investing activities    
Fixed maturities available-for-sale and equity securities with intent to hold: Purchases   (0.2)
Fixed maturities available-for-sale and equity securities with intent to hold: Sales   0.2
Net purchases of property and equipment (0.6) (0.5)
Dividends and returns of capital received from unconsolidated entities 453.7 89.0
Net change in other investments 12.7 (73.6)
Net cash provided by (used in) investing activities 465.8 14.9
Financing activities    
Issuance of long-term debt 2.3 2.6
Principal repayments of long-term debt (9.1) (9.4)
Dividends and capital received from (dividends and capital paid to) parent (433.9) (208.9)
Net cash provided by (used in) financing activities (440.7) (215.7)
Net increase (decrease) in cash and cash equivalents 65.2 (222.9)
Cash and cash equivalents at beginning of period 598.4 649.0
Cash and cash equivalents at end of period 663.6 426.1
Principal Life Insurance Company and other subsidiaries combined | Legal Entities    
Operating activities    
Net cash provided by (used in) operating activities 1,461.2 1,033.5
Investing activities    
Fixed maturities available-for-sale and equity securities with intent to hold: Purchases (3,126.9) (2,736.3)
Fixed maturities available-for-sale and equity securities with intent to hold: Sales 582.4 342.4
Fixed maturities available-for-sale and equity securities with intent to hold: Maturities 1,940.9 1,395.8
Mortgage loans acquired or originated (827.3) (625.1)
Mortgage loans sold or repaid 581.6 382.4
Real estate acquired (39.6) (10.5)
Net purchases of property and equipment (17.4) (28.9)
Net change in other investments (15.4) (171.4)
Net cash provided by (used in) investing activities (921.7) (1,451.6)
Financing activities    
Payments for financing element derivatives (7.1) (6.5)
Purchase of subsidiary shares from noncontrolling interest (0.9)  
Issuance of long-term debt   6.7
Principal repayments of long-term debt (64.5) (0.3)
Net proceeds from short-term borrowings 24.6 0.1
Dividends and capital received from (dividends and capital paid to) parent (453.7) (89.0)
Investment contract deposits 2,725.7 1,872.2
Investment contract withdrawals (2,255.6) (1,947.4)
Net increase (decrease) in banking operation deposits 244.5 (35.4)
Other 0.1 5.5
Net cash provided by (used in) financing activities 213.1 (194.1)
Net increase (decrease) in cash and cash equivalents 752.6 (612.2)
Cash and cash equivalents at beginning of period 2,656.2 3,096.8
Cash and cash equivalents at end of period 3,408.8 2,484.6
Eliminations, Shelf Registration Debt Guarantor | Eliminations    
Operating activities    
Net cash provided by (used in) operating activities 66.9 137.5
Investing activities    
Dividends and returns of capital received from unconsolidated entities (887.6) (297.9)
Net change in other investments 16.9 37.7
Net cash provided by (used in) investing activities (870.7) (260.2)
Financing activities    
Issuance of long-term debt (2.3) (2.6)
Principal repayments of long-term debt 9.1 9.4
Dividends and capital received from (dividends and capital paid to) parent 887.6 297.9
Net cash provided by (used in) financing activities 894.4 304.7
Net increase (decrease) in cash and cash equivalents 90.6 182.0
Cash and cash equivalents at beginning of period (1,133.6) (1,103.2)
Cash and cash equivalents at end of period $ (1,043.0) $ (921.2)