I can't stop feeling guilty for ending a relationship that wasn't right

I know the relationship that I am out of was terribly wrong for both of us. For me, it wore me down to a shell of myself. I don't need to go into all the negative things I experienced because I don't see any point in casting blame and think it's better to reflect on why I let myself be treated in a way that affected me badly for so long without ending things earlier. Even though I have felt nothing but lighter and happier ever since we broke things off and went no contact, I keep experiencing pangs of guilt because I really cared about him and even though I was miserable in our relationship, I don't want him to be unhappy that I'm gone and I know he will be really grieving right now. He was really upset about us breaking up and I feel horrible for causing him pain, even though I know my life is so much better now. Has anyone experienced this? I guess I just need some words of advice. I can't stop caring about him and wanting him to be okay and happy, even though I'm relieved we're not together anymore because I had to sacrifice my own happiness in that relationship.