We study the high-temperature phase diagram of the chiral magnetic insulator Cu$_2$OSeO$_3$ by measuring the spin-Hall magnetoresistance (SMR) in a thin Pt electrode. We find distinct changes in the phase and amplitude of the SMR signal at critical lines separating different magnetic phases of bulk Cu$_2$OSeO$_3$. The skyrmion lattice state appears as a strong dip in the SMR phase. A strong enhancement of the SMR amplitude is observed in the conical spiral state, which we explain by an additional symmetry-allowed contribution to the SMR present in non-collinear magnets. We demonstrate that the SMR can be used as an all-electrical probe of chiral surface twists and skyrmions in magnetic insulators.
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