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Summary of Significant Accounting Policies - Inventory, warranty and other (Details) € in Millions, $ in Millions | 3 Months Ended | 9 Months Ended |  |
--- | --- | --- | --- | ---
Sep. 30, 2016 EUR (€) | Sep. 30, 2016 USD ($) | Jun. 30, 2016 USD ($) | Sep. 30, 2016 EUR (€) | Sep. 30, 2016 USD ($) | Dec. 31, 2016 USD ($) | Dec. 31, 2015 USD ($)
Inventory [Abstract] |  |  |  |  |  |  |
Finished goods |  | $ 137.3 |  |  | $ 137.3 |  | $ 126.7
Work-in-process |  | 12.4 |  |  | 12.4 |  | 14.0
Raw materials and supplies |  | 64.6 |  |  | 64.6 |  | 58.5
Total |  | 214.3 |  |  | 214.3 |  | 199.2
Revenue Recognition [Abstract] |  |  |  |  |  |  |
Allowance for doubtful accounts included in accounts receivable, net |  | 22.8 |  |  | 22.8 |  | $ 23.3
Litigation settlement, expense | € 15.5 | 17.4 |  | € 15.5 | 17.4 |  |
Foreign Exchange Forward |  |  |  |  |  |  |
Revenue Recognition [Abstract] |  |  |  |  |  |  |
Notional amount |  | 42.1 |  |  | 42.1 |  |
Gain on derivative |  |  |  |  | $ 0.5 |  |
North America | Pillows |  |  |  |  |  |  |
Warranty Term [Abstract] |  |  |  |  |  |  |
Warranty term (in years) |  |  |  | 3 years | 3 years |  |
Non-prorated | International | Mattresses |  |  |  |  |  |  |
Warranty Term [Abstract] |  |  |  |  |  |  |
Warranty term (in years) |  |  |  | 5 years | 5 years |  |
Prorated | Mattresses |  |  |  |  |  |  |
Warranty Term [Abstract] |  |  |  |  |  |  |
Warranty term (in years) |  |  |  | 10 years | 10 years |  |
Minimum | North America | Mattresses |  |  |  |  |  |  |
Warranty Term [Abstract] |  |  |  |  |  |  |
Warranty term (in years) |  |  |  | 10 years | 10 years |  |
Minimum | International | Mattresses |  |  |  |  |  |  |
Warranty Term [Abstract] |  |  |  |  |  |  |
Warranty term (in years) |  |  |  | 5 years | 5 years |  |
Minimum | Non-prorated | North America | Mattresses |  |  |  |  |  |  |
Warranty Term [Abstract] |  |  |  |  |  |  |
Warranty term (in years) |  |  |  | 10 years | 10 years |  |
Maximum | North America | Mattresses |  |  |  |  |  |  |
Warranty Term [Abstract] |  |  |  |  |  |  |
Warranty term (in years) |  |  |  | 25 years | 25 years |  |
Maximum | International | Mattresses |  |  |  |  |  |  |
Warranty Term [Abstract] |  |  |  |  |  |  |
Warranty term (in years) |  |  |  | 15 years | 15 years |  |
Maximum | Non-prorated | North America | Mattresses |  |  |  |  |  |  |
Warranty Term [Abstract] |  |  |  |  |  |  |
Warranty term (in years) |  |  |  | 15 years | 15 years |  |
Sales Returns |  |  |  |  |  |  |
Sales returns [Roll Forward] |  |  |  |  |  |  |
Beginning balance |  |  |  |  | $ 28.5 |  |
Amounts accrued |  |  |  |  | 100.6 |  |
Returns charged to accrual |  |  |  |  | (96.2) |  |
Ending balance |  | 32.9 |  |  | 32.9 |  |
Warranty Reserves |  |  |  |  |  |  |
Movement in Standard Product Warranty Accrual [Roll Forward] |  |  |  |  |  |  |
Beginning balance |  |  |  |  | 29.6 |  |
Amounts accrued |  |  |  |  | 29.2 |  |
Warranties charged to accrual |  |  |  |  | (25.5) |  |
Ending balance |  | 33.3 |  |  | 33.3 |  |
United States Pension Plan |  |  |  |  |  |  |
Revenue Recognition [Abstract] |  |  |  |  |  |  |
Contributions to defined benefit pension plan |  |  | $ 10.0 |  |  |  |
Accounts Payable and Accrued Liabilities |  |  |  |  |  |  |
Movement in Standard Product Warranty Accrual [Roll Forward] |  |  |  |  |  |  |
Beginning balance |  |  |  |  | 14.9 |  |
Ending balance |  | 17.8 |  |  | 17.8 |  |
Other Noncurrent Liabilities |  |  |  |  |  |  |
Movement in Standard Product Warranty Accrual [Roll Forward] |  |  |  |  |  |  |
Beginning balance |  |  |  |  | 14.7 |  |
Ending balance |  | $ 15.5 |  |  | $ 15.5 |  |
Facility Closing | Scenario, Forecast |  |  |  |  |  |  |
Revenue Recognition [Abstract] |  |  |  |  |  |  |
Restructuring expense expected |  |  |  |  |  | $ 7.0 |

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