Does Style Matter: Comparison of Moderate- to Low-intensity Styles of Yoga

The goal of this clinical trial is to learn if yoga works to improve sleep and heart health in adults with and without insomnia disorder. The main questions it aims to answer are: * Does the style of yoga impact participants heart health overnight? * Does the style of yoga improve participants sleep following a single session? Researchers will compare adults with insomnia disorder to adults with healthy sleep . Participants will: * Complete a moderate-intensity yoga practice, a low-intensity intensity yoga practice, and a quiet rest period while watching a nature documentary in the evening on three separate evenings * Participants will have their sleep and heart health measured using a watch and heart rate monitor overnight following each visit