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Schedule II - Condensed Financial Information of Parent - Financing Agreements (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Debt Instrument [Line Items]      
Total $ 1.0 $ 1.0  
Revolving lines of credit, capacity 5,036.0    
Outstanding borrowings 3,857.0    
Payments of financing costs 34.0 34.0 $ 50.0
Parent Issuer      
Debt Instrument [Line Items]      
Intercompany financing - Subsidiaries 69.0 4.0  
Total 69.0 4.0  
Revolving lines of credit, capacity 5,000.0    
Outstanding borrowings 3,800.0    
Payments of financing costs 32.0 $ 28.0 $ 39.0
Parent Issuer | Unsecured and Uncommitted      
Debt Instrument [Line Items]      
Revolving lines of credit, capacity 425.0    
Parent Issuer | Unsecured and Committed      
Debt Instrument [Line Items]      
Revolving lines of credit, capacity 4,500.0    
Parent Issuer | Secured facilities      
Debt Instrument [Line Items]      
Revolving lines of credit, capacity 10.0    
Financial Guarantee | Voya Financial, Inc. / Roaring River IV, LLC | Parent Issuer | Notes Payable      
Debt Instrument [Line Items]      
Other commitment $ 565.0