We introduce a simple, physically-motivated variational ground state for the quantum Rabi model, and demonstrate that it provides a high-fidelity approximation of the true ground state in all parameter regimes (including intermediate and strong coupling regimes). Our variational state is constructed using Gaussian cavity states and nonorthogonal qubit pointer states, and contains only three variational parameters. We use our state to develop a heuristic understanding of how the ground state evolves with increasing coupling, and find a previously unexplored regime where the ground state corresponds to the cavity being in a nearly pure Schrodinger cat state.