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Quarterly Financial Data (unaudited) Narrative (Details) - USD ($)
$ in Millions
3 Months Ended 12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Effect of Fourth Quarter Events [Line Items]          
Customer-related charges     $ 29.8 $ 21.2 $ 14.4
Donation of common stock $ 8.9   $ 8.9 $ 0.0 $ 0.0
Restructuring costs   $ 9.1      
Mattress PAL          
Effect of Fourth Quarter Events [Line Items]          
Customer-related charges $ 29.8        
Innovative Mattress Solutions, LLC (IMS)          
Effect of Fourth Quarter Events [Line Items]          
Customer-related charges   21.2      
Other Restructuring          
Effect of Fourth Quarter Events [Line Items]          
Restructuring charges   4.7      
Professional Fees          
Effect of Fourth Quarter Events [Line Items]          
Restructuring charges   2.9      
Acquisition-related Costs          
Effect of Fourth Quarter Events [Line Items]          
Restructuring charges   $ 1.5