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Revenues from Contracts with Customers - Disaggregation by Segment (Details) - USD ($)
$ in Millions
 3 Months Ended 6 Months Ended
Jun. 30, 2020
Jun. 30, 2019
Jun. 30, 2020
Jun. 30, 2019
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total fees and other revenues per consolidated statements of operations $ 1,044.3 $ 1,006.6 $ 2,189.6 $ 1,980.1
U.S. Insurance Solutions Eliminations        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total segment revenue from contracts with customers (0.1) (0.1) (0.1) (0.1)
Operating Segments        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total segment revenue from contracts with customers 653.3 587.2 1,353.7 1,148.4
Operating Segments | Retirement and Income Solutions        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total segment revenue from contracts with customers 153.2 66.2 311.7 127.5
Operating Segments | Principal Global Investors        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total segment revenue from contracts with customers 348.2 346.2 731.1 678.5
Fees and other revenues not within the scope of revenue recognition guidance 3.9 10.4 9.4 14.7
Total fees and other revenues per consolidated statements of operations 352.1 356.6 740.5 693.2
Operating Segments | Principal International        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total segment revenue from contracts with customers 101.6 116.2 211.1 231.1
Fees and other revenues not within the scope of revenue recognition guidance 1.5 1.7 2.8 3.4
Total fees and other revenues per consolidated statements of operations 103.1 117.9 213.9 234.5
Operating Segments | U.S. Insurance Solutions        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total segment revenue from contracts with customers 14.4 16.1 31.0 31.8
Operating Segments | Corporate        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total segment revenue from contracts with customers 35.9 42.5 68.8 79.5
Fees and other revenues not within the scope of revenue recognition guidance (69.2) (77.9) (145.3) (148.5)
Total fees and other revenues per consolidated statements of operations (33.3) (35.4) (76.5) (69.0)
Operating Segments | Retirement and Income Solutions - Fee | Retirement and Income Solutions        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total segment revenue from contracts with customers 151.2 63.9 307.6 122.3
Fees and other revenues not within the scope of revenue recognition guidance 255.1 281.6 535.6 553.4
Total fees and other revenues per consolidated statements of operations 406.3 345.5 843.2 675.7
Operating Segments | Retirement and Income Solutions - Spread | Retirement and Income Solutions        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total segment revenue from contracts with customers 2.0 2.3 4.1 5.2
Fees and other revenues not within the scope of revenue recognition guidance 2.8 4.2 5.9 9.1
Total fees and other revenues per consolidated statements of operations 4.8 6.5 10.0 14.3
Operating Segments | Specialty Benefits insurance | U.S. Insurance Solutions        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total segment revenue from contracts with customers 3.5 3.6 7.3 7.3
Fees and other revenues not within the scope of revenue recognition guidance 4.6 4.9 9.5 9.8
Total fees and other revenues per consolidated statements of operations 8.1 8.5 16.8 17.1
Operating Segments | Individual Life insurance | U.S. Insurance Solutions        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Total segment revenue from contracts with customers 11.0 12.6 23.8 24.6
Fees and other revenues not within the scope of revenue recognition guidance 191.8 190.3 401.8 382.5
Total fees and other revenues per consolidated statements of operations 202.8 202.9 425.6 407.1
Reconciling Items        
Revenues from Contracts with Customers - Disaggregation of Revenues        
Fees and other revenues not within the scope of revenue recognition guidance 390.5 415.2 819.7 824.4
Pre-tax other adjustments $ 0.5 $ 4.2 $ 16.2 $ 7.3