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Net Sales - Sales (Details) - USD ($)
$ in Millions
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Disaggregation of Revenue [Line Items]        
Net sales $ 1,269.7 $ 1,211.0 $ 2,477.8 $ 2,450.5
Operating Segments        
Disaggregation of Revenue [Line Items]        
Net sales 1,269.7 1,211.0 2,477.8 2,450.5
Operating Segments | United States        
Disaggregation of Revenue [Line Items]        
Net sales 946.2 890.3 1,801.1 1,754.6
Operating Segments | All Other        
Disaggregation of Revenue [Line Items]        
Net sales 323.5 320.7 676.7 695.9
Operating Segments | Bedding        
Disaggregation of Revenue [Line Items]        
Net sales 1,162.0 1,114.2 2,254.3 2,235.6
Operating Segments | Other        
Disaggregation of Revenue [Line Items]        
Net sales 107.7 96.8 223.5 214.9
Operating Segments | Wholesale        
Disaggregation of Revenue [Line Items]        
Net sales 989.2 939.1 1,901.8 1,863.2
Operating Segments | Direct        
Disaggregation of Revenue [Line Items]        
Net sales 280.5 271.9 576.0 587.3
Operating Segments | North America        
Disaggregation of Revenue [Line Items]        
Net sales 1,016.8 964.7 1,936.4 1,896.1
Operating Segments | North America | United States        
Disaggregation of Revenue [Line Items]        
Net sales 946.2 890.3    
Operating Segments | North America | All Other        
Disaggregation of Revenue [Line Items]        
Net sales 70.6 74.4 135.3 141.5
Operating Segments | North America | Bedding        
Disaggregation of Revenue [Line Items]        
Net sales 955.6 909.1 1,809.9 1,774.0
Operating Segments | North America | Other        
Disaggregation of Revenue [Line Items]        
Net sales 61.2 55.6 126.5 122.1
Operating Segments | North America | Wholesale        
Disaggregation of Revenue [Line Items]        
Net sales 896.0 847.8 1,700.3 1,659.1
Operating Segments | North America | Direct        
Disaggregation of Revenue [Line Items]        
Net sales 120.8 116.9 236.1 237.0
Operating Segments | International        
Disaggregation of Revenue [Line Items]        
Net sales 252.9 246.3 541.4 554.4
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 252.9 246.3 541.4 554.4
Operating Segments | International | Bedding        
Disaggregation of Revenue [Line Items]        
Net sales 206.4 205.1 444.4 461.6
Operating Segments | International | Other        
Disaggregation of Revenue [Line Items]        
Net sales 46.5 41.2 97.0 92.8
Operating Segments | International | Wholesale        
Disaggregation of Revenue [Line Items]        
Net sales 93.2 91.3 201.5 204.1
Operating Segments | International | Direct        
Disaggregation of Revenue [Line Items]        
Net sales $ 159.7 $ 155.0 $ 339.9 $ 350.3