Since 1983 Missouri has been a pure comparative fault state. According to the MO Department of Insurance (DOI) pure comparative fault allows your damages to be reduced by the percentage you are at fault in a loss. Insurers are allowed to investigate an accident and make a decision as to the percentage of fault of all individuals involved.
The DOI continues on to say that if you disagree with the insurance company's findings and voluntary offers based on results you can consult an attorney. From this information generally one in your place would turn over the facts of the accident to their insurance company so they can investigate and determine who is partly or fully at fault and pay accordingly.