Using Coulomb blockaded double quantum dots, we realize the superconducting analog of the celebrated two-impurity Kondo model. Focusing on gate regions with a single spin-1/2 on each dot, we demonstrate gate-tuned changes of the ground state from an interdot singlet to independently screened Yu-Shiba-Rusinov singlets. In contrast to the zero-temperature two-impurity Kondo model, the crossover between these two singlets is heralded by quantum phase boundaries to nearby doublet phases, in which only a single spin is screened. We identify all four ground states via transport measurements.