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Cover Page - USD ($)
$ in Millions
 12 Months Ended
Dec. 31, 2023
Feb. 14, 2024
Jun. 30, 2023
Cover [Abstract]      
Document Type 10-K    
Document Annual Report true    
Document Period End Date Dec. 31, 2023    
Current Fiscal Year End Date --12-31    
Document Transition Report false    
Entity File Number 0-12015    
Entity Registrant Name HEALTHCARE SERVICES GROUP, INC.    
Entity Incorporation, State Code PA    
I.R.S. Employer Identification No. 23-2018365    
Entity Address, Address Line One 3220 Tillman Drive    
Entity Address, Address Line Two Suite 300    
Entity Address, City or Town Bensalem    
Entity Address, State or Province PA    
Entity Address, Postal Zip Code 19020    
City Area Code 215    
Local Phone Number 639-4274    
Title of 12(b) Security Common Stock, $0.01 par value    
Trading Symbol HCSG    
Security Exchange Name NASDAQ    
Entity Well-known Seasoned Issuer No    
Entity Voluntary Filers No    
Entity Current Reporting Status Yes    
Entity Interactive Data Current Yes    
Entity Filer Category Large Accelerated Filer    
Entity Small Business false    
Entity Emerging Growth Company false    
ICFR Auditor Attestation Flag true    
Document Financial Statement Error Correction true    
Document Financial Statement Restatement Recovery Analysis true    
Entity Shell Company false    
Entity Public Float     $ 907
Entity Common Stock, Shares Outstanding   73,583,055  
Documents Incorporated by Reference
Portions of the definitive Proxy Statement for the Registrant’s Annual Meeting of Shareholders to be held on May 28, 2024 have been incorporated by reference into Parts II and III of this Annual Report on Form 10-K.
    
Amendment Flag false    
Document Fiscal Year Focus 2023    
Document Fiscal Period Focus FY    
Entity Central Index Key 0000731012