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Related Party Transactions - Additional Information (Details) - USD ($)
$ in Millions
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Jan. 31, 2021
Jan. 01, 2021
Related Party Transactions          
Premiums assumed from other companies $ 503.5 $ 494.3 $ 439.5    
PFG | Benefit Plans | Long-Term Care Assistance Plan          
Related Party Transactions          
Benefit liability       $ 2.9 $ 2.9
Affiliated Entities | Related party transactions resulting in expense reimbursements          
Related Party Transactions          
Expenses reimbursed 606.0 647.2 568.1    
PFG | Benefit Plans | Nonqualified Plan | Deferred Compensation Plans          
Related Party Transactions          
Expenses to related parties 2.3 2.1 1.8    
PFG | Benefit Plans | Deferred Compensation Plan | Qualified Plan          
Related Party Transactions          
Expenses to related parties 41.3 36.5 33.1    
PFG | Benefit Plans | Pension benefits          
Related Party Transactions          
Expenses to related parties 55.4 58.6 51.0    
PFS | Cash Advance Agreement          
Related Party Transactions          
Amounts due from (to) related party 86.0 (75.1)      
Interest earned from related party 4.2 0.1 0.0    
PFS | Cash Advance Agreement | Maximum          
Related Party Transactions          
Aggregate principal amount for advanced cash 1,000.0        
PFS | Notes Receivable | Notes Receivable          
Related Party Transactions          
Interest earned from related party 5.9 7.2 8.5    
PFS | Notes Receivable | Notes Receivable | Note Receivable 2.87% interest rate          
Related Party Transactions          
Aggregate principal amount for advanced cash $ 156.0        
Term of credit facility 10 years        
Interest rate (as a percent) 2.87%        
PFS | Notes Receivable | Notes Receivable | Note receivable 2.885% interest rate          
Related Party Transactions          
Aggregate principal amount for advanced cash $ 300.0        
Term of credit facility 10 years        
Interest rate (as a percent) 2.885%        
PLIC | PFS | Cash Advance Agreement | Maximum          
Related Party Transactions          
Aggregate principal amount for advanced cash $ 1,000.0        
PLIC | PFS | Cash Advance Agreement | LIBOR rate          
Related Party Transactions          
Spread added to LIBOR to determine Internal Crediting Rate (as a percent) 0.10%        
Principal National Life Insurance Company | Reinsurance          
Related Party Transactions          
Expenses to related parties $ 995.7 1,088.9 1,038.9    
Assumed reinsurance liability 5,393.7 5,098.9      
Premiums assumed from other companies 847.5 809.3 749.3    
Principal Securities, Inc. | Distribution of Affiliated Products          
Related Party Transactions          
Commission expense 81.5 95.7 80.4    
PGI LLC | Asset Management Services Agreement          
Related Party Transactions          
Expenses to related parties 109.3 114.9 101.1    
Principal Securities, Inc. and Principal Global Investors, LLC ("PGI LLC") | Distribution of Affiliated Products          
Related Party Transactions          
Revenue from related parties $ 412.6 $ 471.2 $ 395.8