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Summary of Significant Accounting Policies - Additional Information (Details) $ in Millions | 12 Months Ended
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Dec. 31, 2023 USD ($) channel | Dec. 31, 2022 USD ($) | Dec. 31, 2021 USD ($)
SEC Schedule, 12-09, Valuation and Qualifying Accounts Disclosure [Line Items] |  |  |
Number of products sales channels | channel | 2 |  |
Depreciation expense | $ 125.1 | $ 111.4 | $ 94.7
Sales returns accrual | 43.7 | 40.5 | 49.8
Shipping and handling included in cost of sales | 322.2 | 330.3 | 294.8
Advertising costs charged to expense | 469.0 | 448.0 | 432.8
Advertising costs deferred and included in prepaid expenses and other current assets | 10.2 | 12.4 |
Research and development costs charged to expense | 30.6 | 29.2 | $ 27.3
Defined benefit plan, benefit obligation | 32.6 | 30.1 |
Defined benefit plan, amount | $ 27.9 | 25.8 |
2029 Senior Notes | Redemption period three | Senior Notes |  |  |
SEC Schedule, 12-09, Valuation and Qualifying Accounts Disclosure [Line Items] |  |  |
Percentage of redemption on notes | 100.00% |  |
Bedding | Non-prorated | International |  |  |
SEC Schedule, 12-09, Valuation and Qualifying Accounts Disclosure [Line Items] |  |  |
Warranty term (in years) | 5 years |  |
Bedding | Prorated | International |  |  |
SEC Schedule, 12-09, Valuation and Qualifying Accounts Disclosure [Line Items] |  |  |
Warranty term (in years) | 10 years |  |
Pillows Two | Non-prorated |  |  |
SEC Schedule, 12-09, Valuation and Qualifying Accounts Disclosure [Line Items] |  |  |
Warranty term (in years) | 3 years |  |
Accrued liabilities and other current liabilities |  |  |
SEC Schedule, 12-09, Valuation and Qualifying Accounts Disclosure [Line Items] |  |  |
Sales returns accrual | $ 30.4 | 27.5 |
Other non-current liabilities |  |  |
SEC Schedule, 12-09, Valuation and Qualifying Accounts Disclosure [Line Items] |  |  |
Sales returns accrual | 13.3 | 13.0 |
Standard product warranty accrual | 21.9 | 23.8 |
Accrued Expenses And Other Current Liabilities |  |  |
SEC Schedule, 12-09, Valuation and Qualifying Accounts Disclosure [Line Items] |  |  |
Standard product warranty accrual | $ 18.9 | $ 17.8 |
Minimum | Bedding | North America |  |  |
SEC Schedule, 12-09, Valuation and Qualifying Accounts Disclosure [Line Items] |  |  |
Warranty term (in years) | 10 years |  |
Minimum | Bedding | International |  |  |
SEC Schedule, 12-09, Valuation and Qualifying Accounts Disclosure [Line Items] |  |  |
Warranty term (in years) | 5 years |  |
Minimum | Bedding | Non-prorated | North America |  |  |
SEC Schedule, 12-09, Valuation and Qualifying Accounts Disclosure [Line Items] |  |  |
Warranty term (in years) | 10 years |  |
Maximum | Bedding | North America |  |  |
SEC Schedule, 12-09, Valuation and Qualifying Accounts Disclosure [Line Items] |  |  |
Warranty term (in years) | 25 years |  |
Maximum | Bedding | International |  |  |
SEC Schedule, 12-09, Valuation and Qualifying Accounts Disclosure [Line Items] |  |  |
Warranty term (in years) | 15 years |  |
Maximum | Bedding | Non-prorated | North America |  |  |
SEC Schedule, 12-09, Valuation and Qualifying Accounts Disclosure [Line Items] |  |  |
Warranty term (in years) | 15 years |  |
Joint Ventures |  |  |
SEC Schedule, 12-09, Valuation and Qualifying Accounts Disclosure [Line Items] |  |  |
Ownership percentage | 50.00% |  |

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