Revenue Recognition - Narrative (Details) - USD ($) $ in Millions	3 Months Ended		6 Months Ended
	Jun. 29, 2024	Jul. 01, 2023	Jun. 29, 2024	Jul. 01, 2023
Disaggregation of Revenue [Line Items]
Revenue recognized, included in beginning deferred contract liability balance	$ 10	$ 10	$ 19	$ 19
Transferred at Point in Time | Revenue from Contract with Customer Benchmark | Timing of Transfer of Goods or Services Concentration Risk
Disaggregation of Revenue [Line Items]
Revenue recognized at a point in time	98.00%	98.00%	98.00%	98.00%
SleepIQ Technology | Minimum
Disaggregation of Revenue [Line Items]
Estimated product life			4 years 6 months
SleepIQ Technology | Maximum
Disaggregation of Revenue [Line Items]
Estimated product life			5 years