Write each column$~j$ of $A+xI_n$ as a sum of the column$~j$ of$~A$ and $x$ times column $j$ of$~I_n$. Now apply multi-linearity of the determinant with respect to the columns for each of the columns, to obtain a sum of $2^n$ determinants (each column was a sum of $2$ terms, and doubled the number of terms obtained for the whole determinant). The sum can be indexed by the $2^n$ subsets of $\{1,2,\ldots,\}$, namely the subset of the columns for which the term involving $x$ was chosen. One obtains
$$
\det(A+xI_n) = \sum_{S\subseteq\{1,2,\ldots,\}}x^{|S|}\det M(S,A)
$$
where $M(S,A)$ denotes the matrix obtained from$~A$ by replacing the columns whose index appears in$~S$ by the corresponding column of$~I_n$.
Now fixing $S$, the determinant of $M(S,A)$ can be successively developed by the columns selected by$~S$, those that are taken from$~I_n$, which development involves only a single nonzero term each time. What remains is the determinant of the matrix obtained from $A$ by removing the rows and the columns whose index lies in$~S$. This is a principal minor of order $n-|S|$. Thus after collecting the terms with the same power of$~x$, the coefficient$~a_k$ of $x^{n-k}$ is the sum of all principal minors of order$~k$ of$~A$. With that correction, the statement given has been proved.