I figured out the problem. I had to edit the page so that ‘Checkout’ had a parent directory: Cart. Everything seems to be working right now.
In other words, go to your pages (on the left-hand side in the admin panel), click on “Checkout” and change the parent to be “Cart”.
Thanks for the response. How would I go about creating the directory for ‘checkout’ and what should the code for this page be? I assumed it existed since WooCommerce automatically generated this page while being installed.