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Quarterly Financial Data (unaudited) Narrative (Details) - USD ($) $ in Millions | 3 Months Ended | 12 Months Ended
--- | --- | ---
Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Effect of Fourth Quarter Events [Line Items] |  |  |  |  |
Customer-related charges |  |  | $ 29.8 | $ 21.2 | $ 14.4
Donation of common stock | $ 8.9 |  | $ 8.9 | $ 0.0 | $ 0.0
Restructuring costs |  | $ 9.1 |  |  |
Mattress PAL |  |  |  |  |
Effect of Fourth Quarter Events [Line Items] |  |  |  |  |
Customer-related charges | $ 29.8 |  |  |  |
Innovative Mattress Solutions, LLC (IMS) |  |  |  |  |
Effect of Fourth Quarter Events [Line Items] |  |  |  |  |
Customer-related charges |  | 21.2 |  |  |
Other Restructuring |  |  |  |  |
Effect of Fourth Quarter Events [Line Items] |  |  |  |  |
Restructuring charges |  | 4.7 |  |  |
Professional Fees |  |  |  |  |
Effect of Fourth Quarter Events [Line Items] |  |  |  |  |
Restructuring charges |  | 2.9 |  |  |
Acquisition-related Costs |  |  |  |  |
Effect of Fourth Quarter Events [Line Items] |  |  |  |  |
Restructuring charges |  | $ 1.5 |  |  |

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