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Condensed Consolidating Financial Information - Guarantor, Statements of Cash Flows (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Operating activities      
Net cash provided by (used in) operating activities $ 5,493.2 $ 5,156.5 $ 4,188.0
Investing activities      
Fixed maturities available-for-sale and equity securities with intent to hold: Purchases (14,137.1) (13,909.8) (13,371.6)
Fixed maturities available-for-sale and equity securities with intent to hold: Sales 2,397.4 3,813.1 1,413.6
Fixed maturities available-for-sale and equity securities with intent to hold: Maturities 7,064.2 6,217.6 8,743.2
Mortgage loans acquired or originated (3,487.7) (3,447.5) (2,755.8)
Mortgage loans sold or repaid 2,335.9 2,228.4 1,872.0
Real estate acquired (127.5) (88.1) (200.5)
Real estate sold 96.3 63.5 481.9
Net (purchases) sales of property and equipment (132.4) (92.3) (164.8)
Purchase of business or interests in subsidiaries, net of cash acquired (1,208.5) (184.7)  
Net change in other investments (489.1) (302.7) (70.8)
Net cash provided by (used in) investing activities (7,688.5) (5,702.5) (4,052.8)
Financing activities      
Issuance of common stock 37.7 64.0 162.5
Acquisition of treasury stock (281.0) (671.6) (220.4)
Proceeds from financing element derivatives     0.1
Payments for financing element derivatives (26.9) (65.9) (77.6)
Purchase of subsidiary shares from noncontrolling interest (1.7) (31.1) (13.3)
Dividends to common stockholders (606.0) (598.6) (540.0)
Issuance of long-term debt 504.9 80.8 2.8
Principal repayments of long-term debt (32.2) (1.3) (56.5)
Net proceeds from (repayments of) short-term borrowings 57.5 8.5 (15.5)
Investment contract deposits 9,200.0 8,308.8 10,154.4
Investment contract withdrawals (7,747.7) (6,589.6) (9,914.6)
Net increase (decrease) in banking operation deposits 623.4 553.0 136.6
Other 5.7 (4.3) (2.5)
Net cash provided by (used in) financing activities 1,733.7 1,052.7 (384.0)
Net increase (decrease) in cash and cash equivalents (461.6) 506.7 (248.8)
Cash and cash equivalents at beginning of period 2,977.5 2,470.8 2,719.6
Cash and cash equivalents at end of period 2,515.9 2,977.5 2,470.8
Principal Financial Group, Inc. parent only | Legal Entities      
Operating activities      
Net cash provided by (used in) operating activities 7.1 (132.4) (443.2)
Investing activities      
Fixed maturities available-for-sale and equity securities with intent to hold: Purchases (251.5) (210.9)  
Fixed maturities available-for-sale and equity securities with intent to hold: Maturities 200.0 2.3  
Net (purchases) sales of property and equipment (0.1) (0.1) (0.1)
Dividends and returns of capital received from (contributed to) unconsolidated entities 494.2 1,041.6 1,002.5
Net change in other investments (34.0) (2.2) (1.1)
Net cash provided by (used in) investing activities 408.6 830.7 1,001.3
Financing activities      
Issuance of common stock 37.7 64.0 162.5
Acquisition of treasury stock (281.0) (671.6) (220.4)
Dividends to common stockholders (606.0) (598.6) (540.0)
Issuance of long-term debt 493.6    
Net cash provided by (used in) financing activities (355.7) (1,206.2) (597.9)
Net increase (decrease) in cash and cash equivalents 60.0 (507.9) (39.8)
Cash and cash equivalents at beginning of period 334.9 842.8 882.6
Cash and cash equivalents at end of period 394.9 334.9 842.8
Principal Life Insurance Company only | Legal Entities      
Operating activities      
Net cash provided by (used in) operating activities 2,292.0 5,410.9 5,571.5
Investing activities      
Fixed maturities available-for-sale and equity securities with intent to hold: Purchases (11,482.9) (11,457.5) (12,054.5)
Fixed maturities available-for-sale and equity securities with intent to hold: Sales 1,411.0 2,557.9 1,005.3
Fixed maturities available-for-sale and equity securities with intent to hold: Maturities 6,123.0 5,660.9 7,894.7
Mortgage loans acquired or originated (2,943.6) (3,060.0) (2,629.8)
Mortgage loans sold or repaid 2,030.8 1,967.4 1,696.2
Real estate acquired (0.3)    
Net (purchases) sales of property and equipment (52.9) (50.5) (108.1)
Dividends and returns of capital received from (contributed to) unconsolidated entities 2.2 50.1 149.7
Net change in other investments 2,646.8 (626.1) 281.9
Net cash provided by (used in) investing activities (2,265.9) (4,957.8) (3,764.6)
Financing activities      
Proceeds from financing element derivatives     0.1
Payments for financing element derivatives (26.9) (65.9) (77.6)
Capital received from (dividends and capital paid to) parent (1,169.2) (861.6) (1,845.9)
Investment contract deposits 8,727.6 7,896.0 9,760.5
Investment contract withdrawals (7,709.4) (6,520.1) (9,889.9)
Other 6.0 (4.3) (2.5)
Net cash provided by (used in) financing activities (171.9) 444.1 (2,055.3)
Net increase (decrease) in cash and cash equivalents (145.8) 897.2 (248.4)
Cash and cash equivalents at beginning of period 1,323.9 426.7 675.1
Cash and cash equivalents at end of period 1,178.1 1,323.9 426.7
Principal Financial Services, Inc. and other subsidiaries combined | Legal Entities      
Operating activities      
Net cash provided by (used in) operating activities 650.5 473.1 (2,114.7)
Investing activities      
Fixed maturities available-for-sale and equity securities with intent to hold: Purchases (2,402.7) (2,249.2) (1,317.1)
Fixed maturities available-for-sale and equity securities with intent to hold: Sales 988.9 1,255.2 425.1
Fixed maturities available-for-sale and equity securities with intent to hold: Maturities 741.2 554.4 848.5
Mortgage loans acquired or originated (555.9) (497.0) (448.1)
Mortgage loans sold or repaid 372.0 297.8 388.4
Real estate acquired (127.2) (88.1) (200.5)
Real estate sold 96.3 63.5 481.9
Net (purchases) sales of property and equipment (79.4) (41.7) (56.6)
Purchase of business or interests in subsidiaries, net of cash acquired (1,208.5) (184.7)  
Dividends and returns of capital received from (contributed to) unconsolidated entities 1,169.2 861.6 1,845.9
Net change in other investments (420.3) 120.7 155.4
Net cash provided by (used in) investing activities (1,426.4) 92.5 2,122.9
Financing activities      
Purchase of subsidiary shares from noncontrolling interest (1.7) (31.1) (16.2)
Sale of subsidiary shares to noncontrolling interest     2.9
Issuance of long-term debt 11.3 178.9 380.5
Principal repayments of long-term debt (99.1) (38.1) (269.9)
Net proceeds from (repayments of) short-term borrowings 57.5 8.5 (15.5)
Capital received from (dividends and capital paid to) parent (496.4) (1,091.7) (1,152.2)
Investment contract deposits 472.4 412.8 393.9
Investment contract withdrawals (38.3) (69.5) (24.7)
Net increase (decrease) in banking operation deposits 623.4 553.0 136.6
Other (0.3)    
Net cash provided by (used in) financing activities 528.8 (77.2) (564.6)
Net increase (decrease) in cash and cash equivalents (247.1) 488.4 (556.4)
Cash and cash equivalents at beginning of period 2,014.8 1,526.4 2,082.8
Cash and cash equivalents at end of period 1,767.7 2,014.8 1,526.4
Eliminations, Notes Guarantor | Eliminations      
Operating activities      
Net cash provided by (used in) operating activities 2,543.6 (595.1) 1,174.4
Investing activities      
Fixed maturities available-for-sale and equity securities with intent to hold: Purchases   7.8  
Fixed maturities available-for-sale and equity securities with intent to hold: Sales (2.5)   (16.8)
Mortgage loans acquired or originated 11.8 109.5 322.1
Mortgage loans sold or repaid (66.9) (36.8) (212.6)
Dividends and returns of capital received from (contributed to) unconsolidated entities (1,665.6) (1,953.3) (2,998.1)
Net change in other investments (2,681.6) 204.9 (507.0)
Net cash provided by (used in) investing activities (4,404.8) (1,667.9) (3,412.4)
Financing activities      
Purchase of subsidiary shares from noncontrolling interest     2.9
Sale of subsidiary shares to noncontrolling interest     (2.9)
Issuance of long-term debt   (98.1) (377.7)
Principal repayments of long-term debt 66.9 36.8 213.4
Capital received from (dividends and capital paid to) parent 1,665.6 1,953.3 2,998.1
Net cash provided by (used in) financing activities 1,732.5 1,892.0 2,833.8
Net increase (decrease) in cash and cash equivalents (128.7) (371.0) 595.8
Cash and cash equivalents at beginning of period (696.1) (325.1) (920.9)
Cash and cash equivalents at end of period $ (824.8) $ (696.1) $ (325.1)