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Stockholders' Equity - AOCI and Noncontrolling Interest (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Change in accumulated other comprehensive income (loss) rollforward      
Balances $ 14,618.0    
Purchase of subsidiary shares from noncontrolling interest [1] (1.4) $ (0.6) $ (24.0)
Balances 16,558.9 14,618.0  
Change in redeemable noncontrolling interest rollforward      
Redeemable noncontrolling interest, balance at beginning of period 264.9 391.2 101.3
Net income (loss) attributable to redeemable noncontrolling interest 7.5 33.6 (2.1)
Redeemable noncontrolling interest of deconsolidated entities (91.9) (505.4) (10.6)
Contributions from redeemable noncontrolling interest 136.2 402.1 355.0
Distributions to redeemable noncontrolling interest (62.0) (66.3) (36.8)
Purchase of subsidiary shares from redeemable noncontrolling interest   (1.1) (7.1)
Change in redemption value of redeemable noncontrolling interest 0.2 5.4 (7.0)
Stock-based compensation attributable to redeemable noncontrolling interest 0.1 0.1 0.1
Other comprehensive income (loss) attributable to redeemable noncontrolling interest 0.6 5.3 (1.6)
Redeemable noncontrolling interest, balance at end of period 255.6 264.9 391.2
Accumulated other comprehensive income (loss)      
Change in accumulated other comprehensive income (loss) rollforward      
Balances 1,037.9 (1,565.1) 165.5
Other comprehensive income (loss) during the period, net of adjustments 1,329.2 2,518.6 (1,907.8)
Amounts reclassified from accumulated other comprehensive income (loss) 16.0 84.4 76.6
Other comprehensive income (loss) attributable to Principal Financial Group, Inc. 1,345.2 2,603.0 (1,831.2)
Purchase of subsidiary shares from noncontrolling interest [1]     (1.6)
Balances 2,383.1 1,037.9 (1,565.1)
Accumulated other comprehensive income (loss) | ASU 2016-01 - Equity investments | Effects of implementation of accounting change      
Change in accumulated other comprehensive income (loss) rollforward      
Balances     (1.0)
Accumulated other comprehensive income (loss) | ASU 2014-09 - Revenue recognition | Effects of implementation of accounting change      
Change in accumulated other comprehensive income (loss) rollforward      
Balances     25.6
Accumulated other comprehensive income (loss) | ASU 2018-02 - Reclassification of certain tax effects | Effects of implementation of accounting change      
Change in accumulated other comprehensive income (loss) rollforward      
Balances     77.6
Net unrealized gains (losses) on available-for-sale securities      
Change in accumulated other comprehensive income (loss) rollforward      
Balances 2,806.0 190.0 1,470.7
Other comprehensive income (loss) during the period, net of adjustments 1,416.7 2,578.3 (1,580.6)
Amounts reclassified from accumulated other comprehensive income (loss) (40.3) 37.7 51.1
Other comprehensive income (loss) attributable to Principal Financial Group, Inc. 1,376.4 2,616.0 (1,529.5)
Balances 4,138.3 2,806.0 190.0
Available-for-sale debt securities, allowance for credit losses 2.9    
Net unrealized gains (losses) on available-for-sale securities | ASU 2016-01 - Equity investments | Effects of implementation of accounting change      
Change in accumulated other comprehensive income (loss) rollforward      
Balances     (1.0)
Net unrealized gains (losses) on available-for-sale securities | ASU 2018-02 - Reclassification of certain tax effects | Effects of implementation of accounting change      
Change in accumulated other comprehensive income (loss) rollforward      
Balances     249.8
Net unrealized gains (losses) on available-for-sale securities | ASU 2016-13 - CECL | Effects of implementation of accounting change      
Change in accumulated other comprehensive income (loss) rollforward      
Balances (44.1)    
Balances   (44.1)  
Noncredit component of impairment losses on fixed maturities available-for-sale      
Change in accumulated other comprehensive income (loss) rollforward      
Balances (44.1) (47.1) (58.3)
Amounts reclassified from accumulated other comprehensive income (loss)   3.0 26.4
Other comprehensive income (loss) attributable to Principal Financial Group, Inc.   3.0 26.4
Balances   (44.1) (47.1)
Noncredit component of impairment losses on fixed maturities available-for-sale | ASU 2018-02 - Reclassification of certain tax effects | Effects of implementation of accounting change      
Change in accumulated other comprehensive income (loss) rollforward      
Balances     (15.2)
Noncredit component of impairment losses on fixed maturities available-for-sale | ASU 2016-13 - CECL | Effects of implementation of accounting change      
Change in accumulated other comprehensive income (loss) rollforward      
Balances 44.1    
Balances   44.1  
Net unrealized gains (losses) on derivative instruments      
Change in accumulated other comprehensive income (loss) rollforward      
Balances 53.4 64.4 42.7
Other comprehensive income (loss) during the period, net of adjustments (13.2) 8.0 51.9
Amounts reclassified from accumulated other comprehensive income (loss) (22.0) (19.0) (35.9)
Other comprehensive income (loss) attributable to Principal Financial Group, Inc. (35.2) (11.0) 16.0
Balances 18.2 53.4 64.4
Net unrealized gains (losses) on derivative instruments | ASU 2018-02 - Reclassification of certain tax effects | Effects of implementation of accounting change      
Change in accumulated other comprehensive income (loss) rollforward      
Balances     5.7
Foreign currency translation adjustment      
Change in accumulated other comprehensive income (loss) rollforward      
Balances (1,341.8) (1,259.5) (918.5)
Other comprehensive income (loss) during the period, net of adjustments (7.3) (102.7) (283.2)
Amounts reclassified from accumulated other comprehensive income (loss) 36.2 20.4  
Other comprehensive income (loss) attributable to Principal Financial Group, Inc. 28.9 (82.3) (283.2)
Purchase of subsidiary shares from noncontrolling interest     (1.6)
Balances (1,312.9) (1,341.8) (1,259.5)
Foreign currency translation adjustment | ASU 2014-09 - Revenue recognition | Effects of implementation of accounting change      
Change in accumulated other comprehensive income (loss) rollforward      
Balances     25.6
Foreign currency translation adjustment | ASU 2018-02 - Reclassification of certain tax effects | Effects of implementation of accounting change      
Change in accumulated other comprehensive income (loss) rollforward      
Balances     (81.8)
Unrecognized postretirement benefit obligation      
Change in accumulated other comprehensive income (loss) rollforward      
Balances (435.6) (512.9) (371.1)
Other comprehensive income (loss) during the period, net of adjustments (67.0) 35.0 (95.9)
Amounts reclassified from accumulated other comprehensive income (loss) 42.1 42.3 35.0
Other comprehensive income (loss) attributable to Principal Financial Group, Inc. (24.9) 77.3 (60.9)
Balances $ (460.5) $ (435.6) (512.9)
Unrecognized postretirement benefit obligation | ASU 2018-02 - Reclassification of certain tax effects | Effects of implementation of accounting change      
Change in accumulated other comprehensive income (loss) rollforward      
Balances     $ (80.9)
[1] Excludes amounts attributable to redeemable noncontrolling interest. See Note 13, Stockholders’ Equity, for further details.