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Summary of Significant Accounting Policies - Textual (Details)
$ in Millions
 1 Months Ended 12 Months Ended
Dec. 31, 2022
USD ($)
hospital
state
Oct. 31, 2022
USD ($)
Dec. 31, 2017
USD ($)
claim
Dec. 31, 2022
USD ($)
hospital
state
Dec. 31, 2021
USD ($)
Dec. 31, 2020
USD ($)
Dec. 31, 2019
USD ($)
Finite-Lived Intangible Assets [Line Items]              
Number of states in which entity operates | state 36     36      
Number of inpatient rehabilitation hospitals | hospital 153     153      
Number of inpatient rehabilitation hospitals, sole ownership | hospital 95     95      
Number of jointly owned inpatient rehabilitation hospitals | hospital 58     58      
Redeemable noncontrolling interest, fair value determination based on home health acquisitions, value threshold $ 400.0     $ 400.0      
Minimum accrual of loss contingency needed to accrue for related legal fees 5.0     5.0      
Advertising expense       $ 6.3 $ 5.6 $ 4.6  
Market access assets              
Finite-Lived Intangible Assets [Line Items]              
Finite-lived intangible asset useful life       20 years      
DAB, Adverse Ruling              
Finite-Lived Intangible Assets [Line Items]              
Amount of claims pending review 52.0     $ 52.0      
Appealed claims denied 6.0     $ 6.0      
UPICs Audits              
Finite-Lived Intangible Assets [Line Items]              
Number of claims sampled | claim     100        
Paid claims, amount from sample     $ 1.3        
Extrapolated error rate period     4 years        
Alleged overpayment amount 18.0   $ 33.9       $ 30.5
Amount overturned of overpayment determination   $ 12.5          
Amount overturned of overpayment determination, interest $ 3.2            
Payor Source | Revenue from Contract with Customer Benchmark | Medicare | RAC Audits              
Finite-Lived Intangible Assets [Line Items]              
Percentage of Medicare patient discharges (percent)       1.00%      
Minimum              
Finite-Lived Intangible Assets [Line Items]              
Joint venture ownership percentage 50.00%     50.00%      
Maximum              
Finite-Lived Intangible Assets [Line Items]              
Joint venture ownership percentage 97.50%     97.50%