<?xml version="1.0"?>
<ownershipDocument>

    <schemaVersion>X0206</schemaVersion>

    <documentType>3</documentType>

    <periodOfReport>2023-04-17</periodOfReport>

    <noSecuritiesOwned>1</noSecuritiesOwned>

    <issuer>
        <issuerCik>0000700565</issuerCik>
        <issuerName>FIRST MID BANCSHARES, INC.</issuerName>
        <issuerTradingSymbol>FMBH</issuerTradingSymbol>
    </issuer>

    <reportingOwner>
        <reportingOwnerId>
            <rptOwnerCik>0001974514</rptOwnerCik>
            <rptOwnerName>HUGHES LAURA J</rptOwnerName>
        </reportingOwnerId>
        <reportingOwnerAddress>
            <rptOwnerStreet1>1421 CHARLESTON AVE</rptOwnerStreet1>
            <rptOwnerStreet2></rptOwnerStreet2>
            <rptOwnerCity>MATTOON</rptOwnerCity>
            <rptOwnerState>IL</rptOwnerState>
            <rptOwnerZipCode>61938</rptOwnerZipCode>
            <rptOwnerStateDescription></rptOwnerStateDescription>
        </reportingOwnerAddress>
        <reportingOwnerRelationship>
            <isOfficer>1</isOfficer>
            <officerTitle>EVP, Chief Marketing &amp; Deposit</officerTitle>
        </reportingOwnerRelationship>
    </reportingOwner>

    <footnotes></footnotes>

    <remarks>Laura J. Hughes joined First Mid Bancshares, Inc. on April 17, 2023 as EVP, Chief Marketing &amp; Deposit Services Officer.</remarks>

    <ownerSignature>
        <signatureName>/s/ Aaron L. Holt, attorney-in-fact for Ms. Hughes</signatureName>
        <signatureDate>2023-04-25</signatureDate>
    </ownerSignature>
</ownershipDocument>
