diff --git a/docs/reference/can.rst b/docs/reference/can.rst
index 817163f78..84d6b1de1 100644
--- a/docs/reference/can.rst
+++ b/docs/reference/can.rst
@@ -290,6 +290,22 @@ byte length.
 | Status)    |              |                |                                                                         |
 +------------+--------------+----------------+-------------------------------------------------------------------------+
 
+Exceptions
+~~~~~~~~~~
+
+Exception Hierarchy
+"""""""""""""""""""
+.. currentmodule:: mil_usb_to_can.sub9
+
+.. exception_hierarchy::
+
+    - :exc:`ChecksumException`
+
+Exception List
+"""""""""""""""""""
+.. autoclass:: mil_usb_to_can.sub9.ChecksumException
+    :members:
+
 CANDeviceHandle
 ~~~~~~~~~~~~~~~
 .. attributetable:: mil_usb_to_can.sub9.CANDeviceHandle
diff --git a/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub9/__init__.py b/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub9/__init__.py
index 2501f364e..fcfe4bd5c 100644
--- a/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub9/__init__.py
+++ b/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub9/__init__.py
@@ -1,2 +1,2 @@
 from .device import CANDeviceHandle, SimulatedCANDeviceHandle
-from .packet import AckPacket, NackPacket, Packet
+from .packet import AckPacket, ChecksumException, NackPacket, Packet
diff --git a/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub9/packet.py b/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub9/packet.py
index 8b123bfc9..500aa0706 100644
--- a/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub9/packet.py
+++ b/mil_common/drivers/mil_usb_to_can/mil_usb_to_can/sub9/packet.py
@@ -4,7 +4,7 @@
 from dataclasses import dataclass
 from enum import Enum
 from functools import lru_cache
-from typing import ClassVar, get_type_hints
+from typing import ClassVar, TypeVar, get_type_hints
 
 SYNC_CHAR_1 = 0x37
 SYNC_CHAR_2 = 0x01
@@ -12,6 +12,9 @@
 _packet_registry: dict[int, dict[int, type[Packet]]] = {}
 
 
+PacketSelf = TypeVar("PacketSelf", bound="Packet")
+
+
 def hexify(data: bytes) -> str:
     return ":".join(f"{c:02x}" for c in data)
 
@@ -22,12 +25,22 @@ def get_cache_hints(cls):
 
 
 class ChecksumException(OSError):
+    """
+    An invalid checksum appeared.
+    """
+
     def __init__(
         self,
         packet: type[Packet],
         received: tuple[int, int],
         expected: tuple[int, int],
     ):
+        """
+        Attributes:
+            packet (Type[:class:`~.Packet`]): The packet with the invalid checksum.
+            received (Tuple[int, int]): The received Fletcher's checksum.
+            expected (Tuple[int, int]): The expected Fletcher's checksum.
+        """
         super().__init__(
             f"Invalid checksum in packet of type {packet.__qualname__}: received {received}, expected {expected}",
         )
@@ -129,12 +142,18 @@ def __bytes__(self):
         return data + struct.pack("<BB", *checksum)
 
     @classmethod
-    def from_bytes(cls, packed: bytes) -> Packet:
+    def from_bytes(cls: type[PacketSelf], packed: bytes) -> PacketSelf:
         """
         Constructs a packet from a packed packet in a :class:`bytes` object.
         If a packet is found with the corresponding message and subclass ID,
-        then an instance of that packet class will be returned, else :class:`Packet`
-        will be returned.
+        then an instance (or subclass) of that packet class will be returned.
+
+        Raises:
+            ChecksumException: The checksum is invalid.
+            LookupError: No packet with the specified class and subclass IDs exist.
+
+        Returns:
+            An instance of the appropriate packet subclass.
         """
         msg_id = packed[2]
         subclass_id = packed[3]
@@ -150,7 +169,12 @@ def from_bytes(cls, packed: bytes) -> Packet:
                     cls._calculate_checksum(packed[2:-2]),
                 )
             unpacked = struct.unpack(subclass.payload_format, payload)
-            return subclass(*unpacked)
+            packet = subclass(*unpacked)
+            if not isinstance(packet, cls):
+                raise RuntimeError(
+                    f"Attempted to resolve packet of type {cls.__qualname__}, but found {packet.__class__.__qualname__} for bytes: {hexify(payload)}",
+                )
+            return packet
         raise LookupError(
             f"Attempted to reconstruct packet with msg_id 0x{msg_id:02x} and subclass_id 0x{subclass_id:02x}, but no packet with IDs was found.",
         )
diff --git a/mil_common/drivers/mil_usb_to_can/test/test_packets_sub9.py b/mil_common/drivers/mil_usb_to_can/test/test_packets_sub9.py
index ba20cd34b..7d1509800 100755
--- a/mil_common/drivers/mil_usb_to_can/test/test_packets_sub9.py
+++ b/mil_common/drivers/mil_usb_to_can/test/test_packets_sub9.py
@@ -15,6 +15,11 @@ class TestPacket(Packet, msg_id=0x47, subclass_id=0x44, payload_format="?Hd"):
     example_float: float
 
 
+@dataclass
+class TestPacketTwo(Packet, msg_id=0x47, subclass_id=0x45, payload_format=""):
+    pass
+
+
 class BasicApplicationPacketTest(unittest.IsolatedAsyncioTestCase):
     """
     Tests basic application packet functionality.
@@ -43,6 +48,12 @@ def test_format(self):
             TestPacket.from_bytes(TestPacket.__bytes__(packet)),
             packet,
         )
+        self.assertEqual(
+            Packet.from_bytes(TestPacket.__bytes__(packet)),
+            packet,
+        )
+        with self.assertRaises(RuntimeError):
+            TestPacketTwo.from_bytes(bytes(packet))
 
     def test_comparisons(self):
         packet = TestPacket(False, 42, 3.14)