That (or something very similar) was a principle that went into the
IDNA spec. I personally was inclined to define both internationalized
domain names and internationalized host names, where the former would
be completely general (allowing *all* Unicode characters, even the
invisible ones), and the latter would be much narrower (excluding most
punctuation and symbols). This would be an analogy to traditional
domain names (which allow all ASCII characters, even control characters)
and traditional host names (which allow only the ASCII letters, digits,
and one punctuation mark, the hyphen-minus).
On the other hand, there was an argument that the traditional
distinction between domain names and host names was the source of
endless confusion and debate, and was a mistake that should not be
repeated with IDNs. I have some sympathy for that argument.
In any case, we ended up with just one set of non-ASCII characters for
IDNs, between the two extremes: only invisible characters are excluded.
(I think there's one exception--a visible space character that is also
excluded).