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Net Sales - Disaggregation of Revenue (Details) $ in Millions | 12 Months Ended
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Dec. 31, 2023 USD ($) channel category | Dec. 31, 2022 USD ($) | Dec. 31, 2021 USD ($)
Disaggregation of Revenue [Line Items] |  |  |
Net sales | $ 4,925.4 | $ 4,921.2 | $ 4,930.8
Number of products sales channels | channel | 2 |  |
Number of product categories | category | 2 |  |
Royalty income, net of royalty expense | $ 32.3 | 31.8 | 29.1
Shipping and handling included in net sales | 8.6 | 8.1 | 7.4
United States |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Net sales |  |  | 3,751.3
All Other |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Net sales | 1,364.6 | 1,325.2 | 1,179.5
Bedding |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Net sales |  |  | 4,512.9
Other |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Net sales |  |  | 417.9
Operating Segments |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Net sales | 4,925.4 | 4,921.2 | 4,930.8
Operating Segments | Wholesale |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Net sales | 3,746.1 | 3,772.5 | 4,034.4
Operating Segments | Direct |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Net sales | 1,179.3 | 1,148.7 | 896.4
Operating Segments | United States |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Net sales | 3,560.8 | 3,596.0 | 3,751.3
Operating Segments | All Other |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Net sales | 1,364.6 | 1,325.2 | 1,179.5
Operating Segments | Bedding |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Net sales | 4,464.4 | 4,477.8 |
Operating Segments | Other |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Net sales | 461.0 | 443.4 |
Operating Segments | North America |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Net sales | 3,855.5 | 3,886.1 | 4,079.2
Operating Segments | North America | Wholesale |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Net sales | 3,348.2 | 3,390.1 | 3,584.1
Operating Segments | North America | Direct |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Net sales | 507.3 | 496.0 | 495.1
Operating Segments | North America | United States |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Net sales | 3,560.8 | 3,596.0 | 3,751.3
Operating Segments | North America | All Other |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Net sales | 294.7 | 290.1 | 327.9
Operating Segments | North America | Bedding |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Net sales | 3,585.2 | 3,618.7 | 3,825.9
Operating Segments | North America | Other |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Net sales | 270.3 | 267.4 | 253.3
Operating Segments | International |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Net sales | 1,069.9 | 1,035.1 | 851.6
Operating Segments | International | Wholesale |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Net sales | 397.9 | 382.4 | 450.3
Operating Segments | International | Direct |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Net sales | 672.0 | 652.7 | 401.3
Operating Segments | International | United States |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Net sales | 0.0 | 0.0 | 0.0
Operating Segments | International | All Other |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Net sales | 1,069.9 | 1,035.1 | 851.6
Operating Segments | International | Bedding |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Net sales | 879.2 | 859.1 | 687.0
Operating Segments | International | Other |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Net sales | $ 190.7 | $ 176.0 | $ 164.6

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