I had my last home cutom built. One of my customizations was a large, low boxed out in the living room. The ledge was only about 10inches of the ground, 16 inches deep, and 7 feet wide.
I bought foam (3-4" thick) at a local upholstery store. They were kind enough to cut it to the exact size I needed. I made a cover for it out of plain muslin. And then made a zippered top cover to go over that, out of fabric that coordinated with the window drapes. It looked great & lasted for years. Chelsea spent most of her time