A little digging on wikipedia seems to have answered my question. This picture of a 17 year cicada, Magicicada septendecim is pretty close to what I saw. !enter image description here
Furthermore, this seems to match the time and place, as the Kansas Brood of 17 year cicadas is scheduled to emerge this year and should appear in the Missouri-Kansas area. It also explains why I'm not familiar with these cicadas, 17 years ago I wasn't paying attention to them.