Schedule II - Condensed Financial Information of Registrant (Parent Only) - Financial Statement Footnotes (Details) - Principal Financial Group, Inc. Parent Only - Legal Entities - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Dividends and Returns of Capital Received from (Contributed to) Unconsolidated Entities
Dividends and returns of capital received from unconsolidated entities	$ 1,660.3	$ 1,826.3	$ 799.1
Nonqualified benefit plans
Condensed Financial Statements, Captions [Line Items]
Assets held in Rabbi trusts	852.3	889.0
Liabilities held in Rabbi trusts	$ 691.8	$ 732.9