diff --git a/include/sleipnir/util/Concepts.hpp b/include/sleipnir/util/Concepts.hpp
index 3f4f7252..653200e7 100644
--- a/include/sleipnir/util/Concepts.hpp
+++ b/include/sleipnir/util/Concepts.hpp
@@ -15,6 +15,10 @@ template <typename T>
 concept ScalarLike = std::same_as<T, double> || std::same_as<T, int> ||
                      std::same_as<T, Variable>;
 
+template <typename T>
+concept SleipnirMatrixLike = std::same_as<T, VariableMatrix> ||
+                             std::same_as<T, VariableBlock<VariableMatrix>>;
+
 template <typename Derived>
 concept EigenMatrixLike =
     std::derived_from<Derived, Eigen::MatrixBase<Derived>>;
@@ -23,8 +27,6 @@ template <typename T>
 concept EigenSolver = requires(T t) { t.solve(Eigen::VectorXd{}); };
 
 template <typename T>
-concept MatrixLike =
-    std::same_as<T, VariableMatrix> ||
-    std::same_as<T, VariableBlock<VariableMatrix>> || EigenMatrixLike<T>;
+concept MatrixLike = SleipnirMatrixLike<T> || EigenMatrixLike<T>;
 
 }  // namespace sleipnir