How do i go about getting emancipated in missouri?

i'm 20 years old and i'm trying to get away from my parent. my parents argue a lot and it seems like there's no love in the house. my mom sometimes takes her frustration out on me and very mean. my dad is still sleeping with his mistress and hasn't really been the best dad for some years. i'm mostly want to get out of my house. i have a job and can provide for myself but i know my parents wont let me do that but i got to get out of here. help.