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Basis of Presentation - Net Operating Revenues (Details) - USD ($)
$ in Millions
 3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Disaggregation of Revenue [Line Items]        
Net operating revenues $ 1,284.8 $ 1,173.9 $ 3,802.9 $ 3,430.0
Inpatient Rehabilitation        
Disaggregation of Revenue [Line Items]        
Net operating revenues 1,010.9 899.4 2,972.4 2,633.1
Home Health and Hospice        
Disaggregation of Revenue [Line Items]        
Net operating revenues 273.9 274.5 830.5 796.9
Medicare        
Disaggregation of Revenue [Line Items]        
Net operating revenues 873.6 821.0 2,597.4 2,396.9
Medicare | Inpatient Rehabilitation        
Disaggregation of Revenue [Line Items]        
Net operating revenues 649.4 592.4 1,914.3 1,738.1
Medicare | Home Health and Hospice        
Disaggregation of Revenue [Line Items]        
Net operating revenues 224.2 228.6 683.1 658.8
Medicare Advantage        
Disaggregation of Revenue [Line Items]        
Net operating revenues 180.8 170.7 550.6 506.5
Medicare Advantage | Inpatient Rehabilitation        
Disaggregation of Revenue [Line Items]        
Net operating revenues 152.2 141.1 464.1 418.2
Medicare Advantage | Home Health and Hospice        
Disaggregation of Revenue [Line Items]        
Net operating revenues 28.6 29.6 86.5 88.3
Managed care        
Disaggregation of Revenue [Line Items]        
Net operating revenues 140.1 108.3 398.2 310.2
Managed care | Inpatient Rehabilitation        
Disaggregation of Revenue [Line Items]        
Net operating revenues 123.1 95.9 350.3 274.3
Managed care | Home Health and Hospice        
Disaggregation of Revenue [Line Items]        
Net operating revenues 17.0 12.4 47.9 35.9
Medicaid        
Disaggregation of Revenue [Line Items]        
Net operating revenues 45.6 41.7 134.3 115.4
Medicaid | Inpatient Rehabilitation        
Disaggregation of Revenue [Line Items]        
Net operating revenues 41.9 38.4 122.7 103.7
Medicaid | Home Health and Hospice        
Disaggregation of Revenue [Line Items]        
Net operating revenues 3.7 3.3 11.6 11.7
Other third-party payors        
Disaggregation of Revenue [Line Items]        
Net operating revenues 10.6 10.8 33.7 31.1
Other third-party payors | Inpatient Rehabilitation        
Disaggregation of Revenue [Line Items]        
Net operating revenues 10.6 10.8 33.7 31.1
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 5.8 4.9 16.9 16.5
Workers’ compensation | Inpatient Rehabilitation        
Disaggregation of Revenue [Line Items]        
Net operating revenues 5.7 4.6 16.7 15.7
Workers’ compensation | Home Health and Hospice        
Disaggregation of Revenue [Line Items]        
Net operating revenues 0.1 0.3 0.2 0.8
Patients        
Disaggregation of Revenue [Line Items]        
Net operating revenues 5.0 5.3 14.8 15.7
Patients | Inpatient Rehabilitation        
Disaggregation of Revenue [Line Items]        
Net operating revenues 4.9 5.1 14.2 14.8
Patients | Home Health and Hospice        
Disaggregation of Revenue [Line Items]        
Net operating revenues 0.1 0.2 0.6 0.9
Other income        
Disaggregation of Revenue [Line Items]        
Net operating revenues 23.3 11.2 57.0 37.7
Other income | Inpatient Rehabilitation        
Disaggregation of Revenue [Line Items]        
Net operating revenues 23.1 11.1 56.4 37.2
Other income | Home Health and Hospice        
Disaggregation of Revenue [Line Items]        
Net operating revenues $ 0.2 $ 0.1 $ 0.6 $ 0.5