Googled common causes of "washing machine will not drain", which suggested that it was probably either a broken or clogged pump, or perhaps a broken lid switch. Googled "how to access pump on whirlpool washers", and started there. Had to scoop out all the water from the washer, which was a pain, and then unplugged the washer itself. It was simple enough to unscrew the control panel, flip it up, disengage the clamps, and then manually pull the white metal "cover" off of the washer. From there it was easy to check out both the pump and the lid switch.
Checked the pump for clogs and broken parts (had to use a clamp to manually hold the hoses shut), but it was fine, so I checked the lid switch and saw that it was not engaging when the washer lid was down. There is an audible "click" when it engages, and this was not happening when the lid would close.
I googled my model number "lsq8243hq0" plus "replacement lid switch", and figured out which part I needed. Ordered the part, and received it 3 days later. Unfortunately, whirlpool had put the wrong part in their manufacturer bag, so I called up AppliancePartsPros and informed them, and they immediately reshipped the part. This one was correct, and arrived just 2 days later.
Diagnosing the problem definitely took the most time, and that was accomplished using google. The actual repairs were easy once I had located the problem, as there are many different walk through videos to choose from. Replacing the lid switch only required unscrewing a few things, undoing a few clamps, and removing the white metal "case" around the washer. Very easy to do, the repair itself took maybe 5 minutes, but adding in the diagnosing, manually draining washer, checking pumps, watching videos, ordering parts, figuring out I had the wrong part and reordering, it all added up to somewhere around 2 hours.
Totally worth it, however, felt great to repair the washer myself, and probably saved a bundle on getting someone out there to do it for me.