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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%