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Stockholders' Equity - AOCI and Noncontrolling Interest (Details) - USD ($)
$ in Millions
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Change in accumulated other comprehensive income (loss) rollforward        
Balances     $ 16,558.9  
Purchase of subsidiary shares from noncontrolling interest [1] $ (1.1)   (18.1) $ (0.9)
Balances 16,070.7   16,070.7  
Change in redeemable noncontrolling interest rollforward        
Redeemable noncontrolling interest, balance at beginning of period 330.6 $ 272.7 255.6 264.9
Net income (loss) attributable to redeemable noncontrolling interest 2.7 (1.5) 9.5 (9.5)
Contributions from redeemable noncontrolling interest 60.2 49.7 148.2 124.3
Distributions to redeemable noncontrolling interest (11.7) (6.0) (34.8) (53.8)
Purchase of subsidiary shares from redeemable noncontrolling interest (0.7)   (6.1)  
Change in redemption value of redeemable noncontrolling interest   1.7 8.6 (0.2)
Other comprehensive income (loss) attributable to redeemable noncontrolling interest (0.4) 9.1 (0.3)  
Redeemable noncontrolling interest, balance at end of period 343.3 278.5 343.3 278.5
Redeemable noncontrolling interest of deconsolidated entities (37.4) (47.3) (37.4) (47.3)
Stock-based compensation attributable to redeemable noncontrolling interest   0.1   0.1
Accumulated other comprehensive income (loss)        
Change in accumulated other comprehensive income (loss) rollforward        
Balances 1,803.8 1,450.7 2,383.1 1,037.9
Other comprehensive income (loss) during the period, net of adjustments (188.4) 283.1 (778.4) 702.1
Amounts reclassified from accumulated other comprehensive income (loss) 3.8 13.3 14.5 7.1
Other comprehensive income (loss) attributable to Principal Financial Group, Inc. (184.6) 296.4 (763.9) 709.2
Balances 1,619.2 1,747.1 1,619.2 1,747.1
Net unrealized gains (losses) on available-for-sale securities        
Change in accumulated other comprehensive income (loss) rollforward        
Balances 3,555.8 3,388.2 4,138.3 2,806.0
Other comprehensive income (loss) during the period, net of adjustments (21.2) 224.7 (602.5) 894.8
Amounts reclassified from accumulated other comprehensive income (loss) (2.4) 1.9 (3.6) (41.9)
Other comprehensive income (loss) attributable to Principal Financial Group, Inc. (23.6) 226.6 (606.1) 852.9
Balances 3,532.2 3,614.8 3,532.2 3,614.8
Net unrealized losses on available-for-sale debt securities with allowance for credit losses 16.2 4.0 16.2 4.0
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)   (44.1)
Noncredit component of impairment losses on fixed maturities available-for-sale        
Change in accumulated other comprehensive income (loss) rollforward        
Balances       (44.1)
Amounts reclassified from accumulated other comprehensive income (loss) 0.0      
Other comprehensive income (loss) attributable to Principal Financial Group, Inc.     0.0  
Balances 0.0   0.0  
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   44.1
Net unrealized gains (losses) on derivative instruments        
Change in accumulated other comprehensive income (loss) rollforward        
Balances 29.9 85.6 18.2 53.4
Other comprehensive income (loss) during the period, net of adjustments 23.8 (21.4) 42.7 25.7
Amounts reclassified from accumulated other comprehensive income (loss) (3.1) (3.7) (10.3) (18.6)
Other comprehensive income (loss) attributable to Principal Financial Group, Inc. 20.7 (25.1) 32.4 7.1
Balances 50.6 60.5 50.6 60.5
Foreign currency translation adjustment        
Change in accumulated other comprehensive income (loss) rollforward        
Balances (1,333.3) (1,608.9) (1,312.9) (1,341.8)
Other comprehensive income (loss) during the period, net of adjustments (191.0) 79.8 (211.4) (218.8)
Amounts reclassified from accumulated other comprehensive income (loss) 0.0 4.6   36.1
Other comprehensive income (loss) attributable to Principal Financial Group, Inc. (191.0) 84.4 (211.4) (182.7)
Balances (1,524.3) (1,524.5) (1,524.3) (1,524.5)
Unrecognized postretirement benefit obligations        
Change in accumulated other comprehensive income (loss) rollforward        
Balances (448.6) (414.2) (460.5) (435.6)
Other comprehensive income (loss) during the period, net of adjustments     (7.2) 0.4
Amounts reclassified from accumulated other comprehensive income (loss) 9.3 10.5 28.4 31.5
Other comprehensive income (loss) attributable to Principal Financial Group, Inc. 9.3 10.5 21.2 31.9
Balances $ (439.3) $ (403.7) $ (439.3) $ (403.7)
[1] Excludes amounts attributable to redeemable noncontrolling interest. See Note 9, Stockholders’ Equity, for further details.