Legal Authorities for Isolation and Quarantine | Quarantine | CDC
From the link above concerning the legal authorities for Isolation (for sick and infected) and Quarantine (for persons who have been exposed, but who have not tested positive and do not exhibit symptoms):
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States have police power functions to protect the health, safety, and welfare of persons within their borders. To control the spread of disease within their borders, states have laws to enforce the use of isolation and quarantine.
These laws can vary from state to state and can be specific or broad. In some states, local health authorities implement state law. In most states, breaking a quarantine order is a criminal misdemeanor.
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History of Quarantine in the US:
History of Quarantine | Quarantine | CDC