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Summary of Significant Accounting Policies - Net Operating Revenues & Accounts Receivable (Details) - USD ($) $ in Millions	3 Months Ended								12 Months Ended
	Dec. 31, 2020	Sep. 30, 2020	Jun. 30, 2020	Mar. 31, 2020	Dec. 31, 2019	Sep. 30, 2019	Jun. 30, 2019	Mar. 31, 2019	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Concentration Risk [Line Items]
Net operating revenues	$ 1,214.4	$ 1,173.9	$ 1,074.1	$ 1,182.0	$ 1,184.4	$ 1,161.6	$ 1,135.0	$ 1,124.0	$ 4,644.4	$ 4,605.0	$ 4,277.3
Inpatient Rehabilitation
Concentration Risk [Line Items]
Net operating revenues									3,566.2	3,513.0	3,346.2
Home Health and Hospice
Concentration Risk [Line Items]
Net operating revenues									1,078.2	1,092.0	931.1
Payor Source | Revenue from Contract with Customer Benchmark
Concentration Risk [Line Items]
Net operating revenues									4,644.4	4,605.0	4,277.3
Payor Source | Revenue from Contract with Customer Benchmark | Inpatient Rehabilitation
Concentration Risk [Line Items]
Net operating revenues									3,566.2	3,513.0	3,346.2
Payor Source | Revenue from Contract with Customer Benchmark | Home Health and Hospice
Concentration Risk [Line Items]
Net operating revenues									1,078.2	1,092.0	931.1
Payor Source | Revenue from Contract with Customer Benchmark | Medicare | Third-Party Payor
Concentration Risk [Line Items]
Net operating revenues									3,271.5	3,457.3	3,246.2
Payor Source | Revenue from Contract with Customer Benchmark | Medicare | Third-Party Payor | Inpatient Rehabilitation
Concentration Risk [Line Items]
Net operating revenues									2,375.5	2,537.3	2,451.7
Payor Source | Revenue from Contract with Customer Benchmark | Medicare | Third-Party Payor | Home Health and Hospice
Concentration Risk [Line Items]
Net operating revenues									896.0	920.0	794.5
Payor Source | Revenue from Contract with Customer Benchmark | Medicare Advantage | Third-Party Payor
Concentration Risk [Line Items]
Net operating revenues									661.1	487.4	395.1
Payor Source | Revenue from Contract with Customer Benchmark | Medicare Advantage | Third-Party Payor | Inpatient Rehabilitation
Concentration Risk [Line Items]
Net operating revenues									544.9	375.5	306.5
Payor Source | Revenue from Contract with Customer Benchmark | Medicare Advantage | Third-Party Payor | Home Health and Hospice
Concentration Risk [Line Items]
Net operating revenues									116.2	111.9	88.6
Payor Source | Revenue from Contract with Customer Benchmark | Managed Care | Third-Party Payor
Concentration Risk [Line Items]
Net operating revenues									419.2	381.8	376.5
Payor Source | Revenue from Contract with Customer Benchmark | Managed Care | Third-Party Payor | Inpatient Rehabilitation
Concentration Risk [Line Items]
Net operating revenues									371.4	342.7	343.3
Payor Source | Revenue from Contract with Customer Benchmark | Managed Care | Third-Party Payor | Home Health and Hospice
Concentration Risk [Line Items]
Net operating revenues									47.8	39.1	33.2
Payor Source | Revenue from Contract with Customer Benchmark | Medicaid | Third-Party Payor
Concentration Risk [Line Items]
Net operating revenues									155.7	128.7	112.9
Payor Source | Revenue from Contract with Customer Benchmark | Medicaid | Third-Party Payor | Inpatient Rehabilitation
Concentration Risk [Line Items]
Net operating revenues									140.1	110.3	101.3
Payor Source | Revenue from Contract with Customer Benchmark | Medicaid | Third-Party Payor | Home Health and Hospice
Concentration Risk [Line Items]
Net operating revenues									15.6	18.4	11.6
Payor Source | Revenue from Contract with Customer Benchmark | Other Third-party Payors | Third-Party Payor
Concentration Risk [Line Items]
Net operating revenues									43.0	43.4	49.0
Payor Source | Revenue from Contract with Customer Benchmark | Other Third-party Payors | Third-Party Payor | Inpatient Rehabilitation
Concentration Risk [Line Items]
Net operating revenues									43.0	43.4	49.0
Payor Source | Revenue from Contract with Customer Benchmark | Other Third-party Payors | Third-Party Payor | Home Health and Hospice
Concentration Risk [Line Items]
Net operating revenues									0.0	0.0	0.0
Payor Source | Revenue from Contract with Customer Benchmark | Workers' Compensation | Third-Party Payor
Concentration Risk [Line Items]
Net operating revenues									22.5	30.2	28.9
Payor Source | Revenue from Contract with Customer Benchmark | Workers' Compensation | Third-Party Payor | Inpatient Rehabilitation
Concentration Risk [Line Items]
Net operating revenues									21.5	29.2	27.4
Payor Source | Revenue from Contract with Customer Benchmark | Workers' Compensation | Third-Party Payor | Home Health and Hospice
Concentration Risk [Line Items]
Net operating revenues									1.0	1.0	1.5
Payor Source | Revenue from Contract with Customer Benchmark | Patients | Self-Pay
Concentration Risk [Line Items]
Net operating revenues									20.1	23.9	19.5
Payor Source | Revenue from Contract with Customer Benchmark | Patients | Self-Pay | Inpatient Rehabilitation
Concentration Risk [Line Items]
Net operating revenues									19.2	23.3	18.7
Payor Source | Revenue from Contract with Customer Benchmark | Patients | Self-Pay | Home Health and Hospice
Concentration Risk [Line Items]
Net operating revenues									0.9	0.6	0.8
Payor Source | Revenue from Contract with Customer Benchmark | Other income
Concentration Risk [Line Items]
Net operating revenues									51.3	52.3	49.2
Payor Source | Revenue from Contract with Customer Benchmark | Other income | Inpatient Rehabilitation
Concentration Risk [Line Items]
Net operating revenues									50.6	51.3	48.3
Payor Source | Revenue from Contract with Customer Benchmark | Other income | Home Health and Hospice
Concentration Risk [Line Items]
Net operating revenues									$ 0.7	$ 1.0	$ 0.9
Payor Source | Accounts Receivable
Concentration Risk [Line Items]
Net operating revenues by payor source (percent)									100.00%	100.00%
Payor Source | Accounts Receivable | Medicare | Third-Party Payor
Concentration Risk [Line Items]
Net operating revenues by payor source (percent)									66.50%	72.10%
Payor Source | Accounts Receivable | Managed care and other discount plans, including Medicare Advantage | Third-Party Payor
Concentration Risk [Line Items]
Net operating revenues by payor source (percent)									25.00%	20.10%
Payor Source | Accounts Receivable | Medicaid | Third-Party Payor
Concentration Risk [Line Items]
Net operating revenues by payor source (percent)									3.70%	3.10%
Payor Source | Accounts Receivable | Other Third-party Payors | Third-Party Payor
Concentration Risk [Line Items]
Net operating revenues by payor source (percent)									2.70%	2.60%
Payor Source | Accounts Receivable | Workers' Compensation | Third-Party Payor
Concentration Risk [Line Items]
Net operating revenues by payor source (percent)									1.20%	1.20%
Payor Source | Accounts Receivable | Patients | Self-Pay
Concentration Risk [Line Items]
Net operating revenues by payor source (percent)									0.90%	0.90%

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