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Net Sales - Disaggregation of Revenue (Details)
$ in Millions
 12 Months Ended
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