Has anyone successfully cleaned the foam beds?

My dog lay on a couch for several years. I finally took the foam cushions off one at a time and put them in the tub with laundry detergent. I walked around on them for a while until the color of the water in the tub seemed to stabilize. I squeezed the water out and did the procedure several times until the water no longer got very dirty. So it was wash & rinse, wash & rinse, etc. This saved my cushions but if I had a way to get new cushions the proper size that would have been the way to go.