That's the gimmick of Tipping, at least for full-service restaurants: the actual cost of the food is obscured by the fact that the menu lists only the pre-tip price.

$20 steak? No, really it's $24. If you don't tip that extra $4, honestly you're being a jerk, to the server and maybe the kitchen staff as well. Meanwhile, the owner gets to pay the server a lower hourly wage, because theoretically everyone leaves that extra 20%.

If Massachusetts abolished tipping, and the lower tipped minimum wage, instead (somehow!) mandating that the tip be included right in the menu price ... you'd see those menu prices go up between 20% and 25% literally overnight.