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Schedule II - Condensed Financial Information of Registrant (Parent Only) - Statements of Financial Position - Parenthetical (Details) - $ / shares
shares in Millions
Dec. 31, 2020
Dec. 31, 2019
Condensed Financial Statements, Captions [Line Items]    
Common stock, par value (in dollars per share) $ 0.01 $ 0.01
Common stock, authorized (in shares) 2,500.0 2,500.0
Common stock, issued (in shares) 481.9 479.3
Common stock, outstanding (in shares) 273.3 276.6
Treasury stock (in shares) 208.6 202.7
Principal Financial Group, Inc. parent only | Legal Entities    
Condensed Financial Statements, Captions [Line Items]    
Common stock, par value (in dollars per share) $ 0.01 $ 0.01
Common stock, authorized (in shares) 2,500.0 2,500.0
Common stock, issued (in shares) 481.9 479.3
Common stock, outstanding (in shares) 273.3 276.6
Treasury stock (in shares) 208.6 202.7