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Condensed Consolidating Financial Information - Shelf Registration Guarantor, Statements of Cash Flows (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Operating activities      
Net cash provided by (used in) operating activities $ 3,738.6 $ 5,493.2 $ 5,156.5
Investing activities      
Fixed maturities available-for-sale and equity securities with intent to hold: Purchases (15,713.4) (14,137.1) (13,909.8)
Fixed maturities available-for-sale and equity securities with intent to hold: Sales 3,043.9 2,397.4 3,813.1
Fixed maturities available-for-sale and equity securities with intent to hold: Maturities 8,819.5 7,064.2 6,217.6
Mortgage loans acquired or originated (3,249.5) (3,487.7) (3,447.5)
Mortgage loans sold or repaid 2,477.2 2,335.9 2,228.4
Real estate acquired (230.6) (127.5) (88.1)
Real estate sold 2.3 96.3 63.5
Net (purchases) sales of property and equipment (108.8) (132.4) (92.3)
Purchase of business or interests in subsidiaries, net of cash acquired   (1,208.5) (184.7)
Net change in other investments (66.4) (489.1) (302.7)
Net cash provided by (used in) investing activities (5,025.8) (7,688.5) (5,702.5)
Financing activities      
Issuance of common stock 42.8 37.7 64.0
Acquisition of treasury stock (307.0) (281.0) (671.6)
Payments for financing element derivatives (30.9) (26.9) (65.9)
Purchase of subsidiary shares from noncontrolling interest (1.4) (1.7) (31.1)
Dividends to common stockholders (614.5) (606.0) (598.6)
Issuance of long-term debt 608.9 504.9 80.8
Principal repayments of long-term debt (65.8) (32.2) (1.3)
Net proceeds from short-term borrowings (12.6) 57.5 8.5
Investment contract deposits 10,284.4 9,200.0 8,308.8
Investment contract withdrawals (8,852.7) (7,747.7) (6,589.6)
Net increase (decrease) in banking operation deposits 569.7 623.4 553.0
Other 0.2 5.7 (4.3)
Net cash provided by (used in) financing activities 1,621.1 1,733.7 1,052.7
Net increase (decrease) in cash and cash equivalents 333.9 (461.6) 506.7
Cash and cash equivalents at beginning of period 2,515.9 2,977.5 2,470.8
Cash and cash equivalents at end of period 2,849.8 2,515.9 2,977.5
Principal Financial Group, Inc. parent only | Legal Entities      
Operating activities      
Net cash provided by (used in) operating activities (15.2) 7.1 (132.4)
Investing activities      
Fixed maturities available-for-sale and equity securities with intent to hold: Purchases (736.5) (251.5) (210.9)
Fixed maturities available-for-sale and equity securities with intent to hold: Maturities 193.7 200.0 2.3
Net (purchases) sales of property and equipment (0.1) (0.1) (0.1)
Dividends and returns of capital received from unconsolidated entities 799.1 494.2 1,041.6
Net change in other investments (50.0) (34.0) (2.2)
Net cash provided by (used in) investing activities 206.2 408.6 830.7
Financing activities      
Issuance of common stock 42.8 37.7 64.0
Acquisition of treasury stock (307.0) (281.0) (671.6)
Dividends to common stockholders (614.5) (606.0) (598.6)
Issuance of long-term debt 595.2 493.6  
Net cash provided by (used in) financing activities (283.5) (355.7) (1,206.2)
Net increase (decrease) in cash and cash equivalents (92.5) 60.0 (507.9)
Cash and cash equivalents at beginning of period 394.9 334.9 842.8
Cash and cash equivalents at end of period 302.4 394.9 334.9
Principal Financial Services, Inc. only | Legal Entities      
Operating activities      
Net cash provided by (used in) operating activities 1,490.5 (54.7) 696.3
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 (3.5) (2.0)  
Purchase of business or interests in subsidiaries, net of cash acquired   (1,209.6)  
Dividends and returns of capital received from unconsolidated entities 1,189.2 2,118.7 589.1
Net change in other investments (1,610.4) (362.9) (166.2)
Net cash provided by (used in) investing activities (424.7) 544.2 422.9
Financing activities      
Issuance of long-term debt 8.5 10.0 11.1
Principal repayments of long-term debt (54.5) (55.9) (57.1)
Dividends and capital received from (dividends and capital paid to) parent (799.1) (494.2) (1,041.6)
Net cash provided by (used in) financing activities (845.1) (540.1) (1,087.6)
Net increase (decrease) in cash and cash equivalents 220.7 (50.6) 31.6
Cash and cash equivalents at beginning of period 598.4 649.0 617.4
Cash and cash equivalents at end of period 819.1 598.4 649.0
Principal Life Insurance Company and other subsidiaries combined | Legal Entities      
Operating activities      
Net cash provided by (used in) operating activities 4,014.8 5,760.7 5,030.9
Investing activities      
Fixed maturities available-for-sale and equity securities with intent to hold: Purchases (14,976.9) (13,885.4) (13,698.9)
Fixed maturities available-for-sale and equity securities with intent to hold: Sales 3,043.9 2,397.2 3,813.1
Fixed maturities available-for-sale and equity securities with intent to hold: Maturities 8,625.8 6,864.2 6,215.3
Mortgage loans acquired or originated (3,249.5) (3,487.7) (3,447.5)
Mortgage loans sold or repaid 2,477.2 2,335.9 2,228.4
Real estate acquired (230.6) (127.5) (88.1)
Real estate sold 2.3 96.3 63.5
Net (purchases) sales of property and equipment (105.2) (130.3) (92.2)
Purchase of business or interests in subsidiaries, net of cash acquired   1.1 (184.7)
Net change in other investments (232.7) (235.8) (413.9)
Net cash provided by (used in) investing activities (4,645.7) (6,172.0) (5,605.0)
Financing activities      
Payments for financing element derivatives (30.9) (26.9) (65.9)
Purchase of subsidiary shares from noncontrolling interest (1.4) (1.7) (31.1)
Issuance of long-term debt 13.7 11.3 80.8
Principal repayments of long-term debt (65.8) (32.2) (1.3)
Net proceeds from short-term borrowings (12.6) 57.5 8.5
Dividends and capital received from (dividends and capital paid to) parent (1,189.2) (2,118.7) (589.1)
Investment contract deposits 10,284.4 9,200.0 8,308.8
Investment contract withdrawals (8,852.7) (7,747.7) (6,589.6)
Net increase (decrease) in banking operation deposits 569.7 623.4 553.0
Other 0.2 5.7 (4.3)
Net cash provided by (used in) financing activities 715.4 (29.3) 1,669.8
Net increase (decrease) in cash and cash equivalents 84.5 (440.6) 1,095.7
Cash and cash equivalents at beginning of period 2,656.2 3,096.8 2,001.1
Cash and cash equivalents at end of period 2,740.7 2,656.2 3,096.8
Eliminations, Shelf Registration Debt Guarantor | Eliminations      
Operating activities      
Net cash provided by (used in) operating activities (1,751.5) (219.9) (438.3)
Investing activities      
Dividends and returns of capital received from unconsolidated entities (1,988.3) (2,612.9) (1,630.7)
Net change in other investments 1,826.7 143.6 279.6
Net cash provided by (used in) investing activities (161.6) (2,469.3) (1,351.1)
Financing activities      
Issuance of long-term debt (8.5) (10.0) (11.1)
Principal repayments of long-term debt 54.5 55.9 57.1
Dividends and capital received from (dividends and capital paid to) parent 1,988.3 2,612.9 1,630.7
Net cash provided by (used in) financing activities 2,034.3 2,658.8 1,676.7
Net increase (decrease) in cash and cash equivalents 121.2 (30.4) (112.7)
Cash and cash equivalents at beginning of period (1,133.6) (1,103.2) (990.5)
Cash and cash equivalents at end of period $ (1,012.4) $ (1,133.6) $ (1,103.2)