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Summary of Significant Accounting Policies (Details)
$ in Millions
6 Months Ended
Jun. 30, 2023
USD ($)
channel
Dec. 31, 2022
USD ($)
SEC Schedule, 12-09, Valuation and Qualifying Accounts Disclosure [Line Items]    
Number of products sales channels | channel 2  
Asia Pacific Joint Ventures    
SEC Schedule, 12-09, Valuation and Qualifying Accounts Disclosure [Line Items]    
Ownership percentage 50.00%  
United Kingdom Joint Venture    
SEC Schedule, 12-09, Valuation and Qualifying Accounts Disclosure [Line Items]    
Ownership percentage 50.00%  
Accrued Expenses And Other Current Liabilities    
Warranty Term [Abstract]    
Accrued warranty expense $ 19.9 $ 17.8
Other Noncurrent Liabilities    
Warranty Term [Abstract]    
Accrued warranty expense $ 24.1 $ 23.8
Mattresses | Non-prorated | International    
Warranty Term [Abstract]    
Warranty term (in years) 5 years  
Mattresses | Prorated | International    
Warranty Term [Abstract]    
Warranty term (in years) 10 years  
Mattresses | Minimum | North America    
Warranty Term [Abstract]    
Warranty term (in years) 10 years  
Mattresses | Minimum | International    
Warranty Term [Abstract]    
Warranty term (in years) 5 years  
Mattresses | Minimum | Non-prorated | North America    
Warranty Term [Abstract]    
Warranty term (in years) 10 years  
Mattresses | Maximum | North America    
Warranty Term [Abstract]    
Warranty term (in years) 25 years  
Mattresses | Maximum | International    
Warranty Term [Abstract]    
Warranty term (in years) 15 years  
Mattresses | Maximum | Non-prorated | North America    
Warranty Term [Abstract]    
Warranty term (in years) 15 years  
Pillows | North America    
Warranty Term [Abstract]    
Warranty term (in years) 3 years