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Condensed Consolidating Financial Information - Shelf Registration 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 Financial Services, Inc. only | Legal Entities      
Operating activities      
Net cash provided by (used in) operating activities (54.7) 696.3 (252.8)
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 (2.0)    
Purchase of business or interests in subsidiaries, net of cash acquired (1,209.6)    
Dividends and returns of capital received from (contributed to) unconsolidated entities 2,118.7 589.1 691.2
Net change in other investments (362.9) (166.2) 7.5
Net cash provided by (used in) investing activities 544.2 422.9 698.7
Financing activities      
Issuance of long-term debt 10.0 11.1 9.4
Principal repayments of long-term debt (55.9) (57.1) (38.8)
Capital received from (dividends and capital paid to) parent (494.2) (1,041.6) (1,002.5)
Net cash provided by (used in) financing activities (540.1) (1,087.6) (1,031.9)
Net increase (decrease) in cash and cash equivalents (50.6) 31.6 (586.0)
Cash and cash equivalents at beginning of period 649.0 617.4 1,203.4
Cash and cash equivalents at end of period 598.4 649.0 617.4
Principal Life Insurance Company and other subsidiaries combined | Legal Entities      
Operating activities      
Net cash provided by (used in) operating activities 5,760.7 5,030.9 4,483.6
Investing activities      
Fixed maturities available-for-sale and equity securities with intent to hold: Purchases (13,885.4) (13,698.9) (13,371.6)
Fixed maturities available-for-sale and equity securities with intent to hold: Sales 2,397.2 3,813.1 1,413.6
Fixed maturities available-for-sale and equity securities with intent to hold: Maturities 6,864.2 6,215.3 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 (130.3) (92.2) (164.7)
Purchase of business or interests in subsidiaries, net of cash acquired 1.1 (184.7)  
Net change in other investments (235.8) (413.9) (61.6)
Net cash provided by (used in) investing activities (6,172.0) (5,605.0) (4,043.5)
Financing activities      
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)
Issuance of long-term debt 11.3 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 (92.0)
Capital received from (dividends and capital paid to) parent (2,118.7) (589.1) (691.2)
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 (29.3) 1,669.8 (553.8)
Net increase (decrease) in cash and cash equivalents (440.6) 1,095.7 (113.7)
Cash and cash equivalents at beginning of period 3,096.8 2,001.1 2,114.8
Cash and cash equivalents at end of period 2,656.2 3,096.8 2,001.1
Eliminations, Shelf Registration Debt Guarantor | Eliminations      
Operating activities      
Net cash provided by (used in) operating activities (219.9) (438.3) 400.4
Investing activities      
Dividends and returns of capital received from (contributed to) unconsolidated entities (2,612.9) (1,630.7) (1,693.7)
Net change in other investments 143.6 279.6 (15.6)
Net cash provided by (used in) investing activities (2,469.3) (1,351.1) (1,709.3)
Financing activities      
Issuance of long-term debt (10.0) (11.1) (9.4)
Principal repayments of long-term debt 55.9 57.1 38.8
Net proceeds from (repayments of) short-term borrowings     76.5
Capital received from (dividends and capital paid to) parent 2,612.9 1,630.7 1,693.7
Net cash provided by (used in) financing activities 2,658.8 1,676.7 1,799.6
Net increase (decrease) in cash and cash equivalents (30.4) (112.7) 490.7
Cash and cash equivalents at beginning of period (1,103.2) (990.5) (1,481.2)
Cash and cash equivalents at end of period $ (1,133.6) $ (1,103.2) $ (990.5)