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Net Sales - Sales (Details) - USD ($)
$ in Millions
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Disaggregation of Revenue [Line Items]        
Net sales $ 1,277.1 $ 1,283.3 $ 3,754.9 $ 3,733.8
Operating Segments        
Disaggregation of Revenue [Line Items]        
Net sales 1,277.1 1,283.3 3,754.9 3,733.8
Operating Segments | United States        
Disaggregation of Revenue [Line Items]        
Net sales 939.1 982.6 2,740.2 2,737.2
Operating Segments | All Other        
Disaggregation of Revenue [Line Items]        
Net sales 338.0 300.7 1,014.7 996.6
Operating Segments | Bedding        
Disaggregation of Revenue [Line Items]        
Net sales 1,159.0 1,172.6 3,413.3 3,408.2
Operating Segments | Other        
Disaggregation of Revenue [Line Items]        
Net sales 118.1 110.7 341.6 325.6
Operating Segments | Wholesale        
Disaggregation of Revenue [Line Items]        
Net sales 974.6 1,003.2 2,876.4 2,866.4
Operating Segments | Direct        
Disaggregation of Revenue [Line Items]        
Net sales 302.5 280.1 878.5 867.4
Operating Segments | North America        
Disaggregation of Revenue [Line Items]        
Net sales 1,023.7 1,057.7 2,960.1 2,953.8
Operating Segments | North America | United States        
Disaggregation of Revenue [Line Items]        
Net sales 939.1 982.6    
Operating Segments | North America | All Other        
Disaggregation of Revenue [Line Items]        
Net sales 84.6 75.1 219.9 216.6
Operating Segments | North America | Bedding        
Disaggregation of Revenue [Line Items]        
Net sales 949.5 986.7 2,759.4 2,760.7
Operating Segments | North America | Other        
Disaggregation of Revenue [Line Items]        
Net sales 74.2 71.0 200.7 193.1
Operating Segments | North America | Wholesale        
Disaggregation of Revenue [Line Items]        
Net sales 885.1 918.1 2,585.4 2,577.2
Operating Segments | North America | Direct        
Disaggregation of Revenue [Line Items]        
Net sales 138.6 139.6 374.7 376.6
Operating Segments | International        
Disaggregation of Revenue [Line Items]        
Net sales 253.4 225.6 794.8 780.0
Operating Segments | International | United States        
Disaggregation of Revenue [Line Items]        
Net sales 0.0 0.0 0.0 0.0
Operating Segments | International | All Other        
Disaggregation of Revenue [Line Items]        
Net sales 253.4 225.6 794.8 780.0
Operating Segments | International | Bedding        
Disaggregation of Revenue [Line Items]        
Net sales 209.5 185.9 653.9 647.5
Operating Segments | International | Other        
Disaggregation of Revenue [Line Items]        
Net sales 43.9 39.7 140.9 132.5
Operating Segments | International | Wholesale        
Disaggregation of Revenue [Line Items]        
Net sales 89.5 85.1 291.0 289.2
Operating Segments | International | Direct        
Disaggregation of Revenue [Line Items]        
Net sales $ 163.9 $ 140.5 $ 503.8 $ 490.8