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Basis of Presentation - Net Operating Revenues (Details) - USD ($)
$ in Millions
 3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Disaggregation of Revenue [Line Items]        
Net operating revenues $ 1,287.7 $ 1,074.1 $ 2,518.1 $ 2,256.1
Inpatient Rehabilitation        
Disaggregation of Revenue [Line Items]        
Net operating revenues 1,001.6 824.5 1,961.5 1,733.7
Home Health and Hospice        
Disaggregation of Revenue [Line Items]        
Net operating revenues 286.1 249.6 556.6 522.4
Medicare        
Disaggregation of Revenue [Line Items]        
Net operating revenues 885.7 707.0 1,724.1 1,576.3
Medicare | Inpatient Rehabilitation        
Disaggregation of Revenue [Line Items]        
Net operating revenues 650.8 502.9 1,265.3 1,145.9
Medicare | Home Health and Hospice        
Disaggregation of Revenue [Line Items]        
Net operating revenues 234.9 204.1 458.8 430.4
Medicare Advantage        
Disaggregation of Revenue [Line Items]        
Net operating revenues 183.5 195.3 369.9 335.7
Medicare Advantage | Inpatient Rehabilitation        
Disaggregation of Revenue [Line Items]        
Net operating revenues 153.6 166.1 312.0 277.0
Medicare Advantage | Home Health and Hospice        
Disaggregation of Revenue [Line Items]        
Net operating revenues 29.9 29.2 57.9 58.7
Managed care        
Disaggregation of Revenue [Line Items]        
Net operating revenues 131.3 99.9 257.8 201.8
Managed care | Inpatient Rehabilitation        
Disaggregation of Revenue [Line Items]        
Net operating revenues 114.7 88.4 226.9 178.3
Managed care | Home Health and Hospice        
Disaggregation of Revenue [Line Items]        
Net operating revenues 16.6 11.5 30.9 23.5
Medicaid        
Disaggregation of Revenue [Line Items]        
Net operating revenues 46.0 38.8 88.8 73.6
Medicaid | Inpatient Rehabilitation        
Disaggregation of Revenue [Line Items]        
Net operating revenues 41.8 34.7 80.8 65.2
Medicaid | Home Health and Hospice        
Disaggregation of Revenue [Line Items]        
Net operating revenues 4.2 4.1 8.0 8.4
Other third-party payors        
Disaggregation of Revenue [Line Items]        
Net operating revenues 11.0 9.3 23.1 20.3
Other third-party payors | Inpatient Rehabilitation        
Disaggregation of Revenue [Line Items]        
Net operating revenues 11.0 9.3 23.1 20.3
Other third-party payors | Home Health and Hospice        
Disaggregation of Revenue [Line Items]        
Net operating revenues 0.0 0.0 0.0 0.0
Workers’ compensation        
Disaggregation of Revenue [Line Items]        
Net operating revenues 5.2 4.5 11.0 11.6
Workers’ compensation | Inpatient Rehabilitation        
Disaggregation of Revenue [Line Items]        
Net operating revenues 5.2 4.2 10.9 11.1
Workers’ compensation | Home Health and Hospice        
Disaggregation of Revenue [Line Items]        
Net operating revenues 0.0 0.3 0.1 0.5
Patients        
Disaggregation of Revenue [Line Items]        
Net operating revenues 4.6 4.4 9.7 10.3
Patients | Inpatient Rehabilitation        
Disaggregation of Revenue [Line Items]        
Net operating revenues 4.3 4.2 9.2 9.7
Patients | Home Health and Hospice        
Disaggregation of Revenue [Line Items]        
Net operating revenues 0.3 0.2 0.5 0.6
Other income        
Disaggregation of Revenue [Line Items]        
Net operating revenues 20.4 14.9 33.7 26.5
Other income | Inpatient Rehabilitation        
Disaggregation of Revenue [Line Items]        
Net operating revenues 20.2 14.7 33.3 26.2
Other income | Home Health and Hospice        
Disaggregation of Revenue [Line Items]        
Net operating revenues $ 0.2 $ 0.2 $ 0.4 $ 0.3