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Condensed Consolidating Financial Information - Shelf Registration Guarantor, Statements of Cash Flows (Details) - USD ($)
$ in Millions
6 Months Ended
Jun. 30, 2020
Jun. 30, 2019
Operating activities    
Net cash provided by (used in) operating activities $ 2,046.1 $ 2,678.4
Investing activities    
Fixed maturities available-for-sale and equity securities with intent to hold: Purchases (7,717.3) (5,771.8)
Fixed maturities available-for-sale and equity securities with intent to hold: Sales 1,855.0 1,477.2
Fixed maturities available-for-sale and equity securities with intent to hold: Maturities 4,059.2 3,025.9
Mortgage loans acquired or originated (1,460.9) (2,008.5)
Mortgage loans sold or repaid 1,198.6 1,243.9
Real estate acquired (98.2) (48.5)
Real estate sold   57.0
Net (purchases) sales of property and equipment (46.4) (65.4)
Net change in other investments (11.1) (253.8)
Net cash provided by (used in) investing activities (2,221.1) (2,344.0)
Financing activities    
Issuance of common stock 23.1 22.1
Acquisition of treasury stock (231.8) (153.7)
Payments for financing element derivatives (14.7) (13.1)
Purchase of subsidiary shares from noncontrolling interest (0.9)  
Dividends to common stockholders (307.1) (300.6)
Issuance of long-term debt 493.1 502.7
Principal repayments of long-term debt (64.9) (0.7)
Net proceeds from short-term borrowings (9.3) 33.1
Investment contract deposits 5,398.7 3,627.4
Investment contract withdrawals (4,801.5) (3,800.8)
Net increase (decrease) in banking operation deposits 324.7 82.0
Other 0.1 5.6
Net cash provided by (used in) financing activities 809.5 4.0
Net increase (decrease) in cash and cash equivalents 634.5 338.4
Cash and cash equivalents at beginning of period 2,515.9 2,977.5
Cash and cash equivalents at end of period 3,150.4 3,315.9
Principal Financial Group, Inc. parent only | Legal Entities    
Operating activities    
Net cash provided by (used in) operating activities (10.0) 16.3
Investing activities    
Fixed maturities available-for-sale and equity securities with intent to hold: Purchases (535.7) (150.2)
Fixed maturities available-for-sale and equity securities with intent to hold: Maturities 94.3 158.1
Net (purchases) sales of property and equipment (0.1)  
Dividends and returns of capital received from unconsolidated entities 533.9 208.9
Net change in other investments   (13.6)
Net cash provided by (used in) investing activities 92.4 203.2
Financing activities    
Issuance of common stock 23.1 22.1
Acquisition of treasury stock (231.8) (153.7)
Dividends to common stockholders (307.1) (300.6)
Issuance of long-term debt 493.1 493.6
Net cash provided by (used in) financing activities (22.7) 61.4
Net increase (decrease) in cash and cash equivalents 59.7 280.9
Cash and cash equivalents at beginning of period 394.9 334.9
Cash and cash equivalents at end of period 454.6 615.8
Principal Financial Services, Inc. only | Legal Entities    
Operating activities    
Net cash provided by (used in) operating activities 597.7 (8.0)
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) sales of property and equipment (1.5) (1.0)
Dividends and returns of capital received from unconsolidated entities 550.5 1,246.3
Net change in other investments (464.6) (51.5)
Net cash provided by (used in) investing activities 84.4 1,193.8
Financing activities    
Issuance of long-term debt 4.4 5.1
Principal repayments of long-term debt (27.4) (28.0)
Dividends and capital received from (dividends and capital paid to) parent (533.9) (208.9)
Net cash provided by (used in) financing activities (556.9) (231.8)
Net increase (decrease) in cash and cash equivalents 125.2 954.0
Cash and cash equivalents at beginning of period 598.4 649.0
Cash and cash equivalents at end of period 723.6 1,603.0
Principal Life Insurance Company and other subsidiaries combined | Legal Entities    
Operating activities    
Net cash provided by (used in) operating activities 2,018.1 2,800.6
Investing activities    
Fixed maturities available-for-sale and equity securities with intent to hold: Purchases (7,181.6) (5,621.4)
Fixed maturities available-for-sale and equity securities with intent to hold: Sales 1,855.0 1,477.0
Fixed maturities available-for-sale and equity securities with intent to hold: Maturities 3,964.9 2,867.8
Mortgage loans acquired or originated (1,460.9) (2,008.5)
Mortgage loans sold or repaid 1,198.6 1,243.9
Real estate acquired (98.2) (48.5)
Real estate sold   57.0
Net (purchases) sales of property and equipment (44.8) (64.4)
Net change in other investments (134.8) (131.4)
Net cash provided by (used in) investing activities (1,901.8) (2,228.5)
Financing activities    
Payments for financing element derivatives (14.7) (13.1)
Purchase of subsidiary shares from noncontrolling interest (0.9)  
Issuance of long-term debt   9.1
Principal repayments of long-term debt (64.9) (0.7)
Net proceeds from short-term borrowings (9.3) 33.1
Dividends and capital received from (dividends and capital paid to) parent (550.5) (1,246.3)
Investment contract deposits 5,398.7 3,627.4
Investment contract withdrawals (4,801.5) (3,800.8)
Net increase (decrease) in banking operation deposits 324.7 82.0
Other 0.1 5.6
Net cash provided by (used in) financing activities 281.7 (1,303.7)
Net increase (decrease) in cash and cash equivalents 398.0 (731.6)
Cash and cash equivalents at beginning of period 2,656.2 3,096.8
Cash and cash equivalents at end of period 3,054.2 2,365.2
Eliminations, Shelf Registration Debt Guarantor | Eliminations    
Operating activities    
Net cash provided by (used in) operating activities (559.7) (130.5)
Investing activities    
Dividends and returns of capital received from unconsolidated entities (1,084.4) (1,455.2)
Net change in other investments 588.3 (57.3)
Net cash provided by (used in) investing activities (496.1) (1,512.5)
Financing activities    
Issuance of long-term debt (4.4) (5.1)
Principal repayments of long-term debt 27.4 28.0
Dividends and capital received from (dividends and capital paid to) parent 1,084.4 1,455.2
Net cash provided by (used in) financing activities 1,107.4 1,478.1
Net increase (decrease) in cash and cash equivalents 51.6 (164.9)
Cash and cash equivalents at beginning of period (1,133.6) (1,103.2)
Cash and cash equivalents at end of period $ (1,082.0) $ (1,268.1)