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Summary of Significant Accounting Policies - Additional Information (Details) $ in Millions | 3 Months Ended | 12 Months Ended
--- | --- | ---
Mar. 31, 2023 USD ($) | Dec. 31, 2023 USD ($) hospital state | Dec. 31, 2022 USD ($) | Dec. 31, 2021 USD ($)
Finite-Lived Intangible Assets [Line Items] |  |  |  |
Number of states in which entity operates | state |  | 37 |  |
Number of inpatient rehabilitation hospitals | hospital |  | 161 |  |
Number of inpatient rehabilitation hospitals, sole ownership | hospital |  | 98 |  |
Number of jointly owned inpatient rehabilitation hospitals | hospital |  | 63 |  |
Minimum accrual of loss contingency needed to accrue for related legal fees |  | $ 5.0 |  |
Advertising expense |  | $ 6.1 | $ 6.3 | $ 5.6
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 |  | $ 31.0 |  |
Appealed claims denied |  | 7.0 |  |
Pending appeals additional reserve |  | 21.9 |  |
UPICs Audits |  |  |  |
Finite-Lived Intangible Assets [Line Items] |  |  |  |
Alleged overpayment amount |  | $ 18.0 |  |
SMRC |  |  |  |
Finite-Lived Intangible Assets [Line Items] |  |  |  |
Review of claims initiated amount | $ 21.0 |  |  |
Approved claims (in percent) |  | 0.87 |  |
Claims under appeal amount |  | $ 3.0 |  |
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% |  |
Maximum |  |  |  |
Finite-Lived Intangible Assets [Line Items] |  |  |  |
Joint venture ownership percentage |  | 97.50% |  |

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