Baur succeeded Barbara Anderson in portraying a female detective on NBC television's Ironside, as her character of Fran Belding replaced Anderson's Eve Whitfield. In 1972, she told a reporter: "They interviewed 100 girls for this role. Then they had 14 of us come in and read for the part. Finally they gave seven of us screen tests. I was really surprised they chose me." Two years later, she said, "Officer Fran Belding is the hardest part I've ever had to play, because she's so straight, so normal."
Baur would work with Anderson in the 1993 TV reunion movie The Return of Ironside, reprising her role as Fran Belding alongside her former co-stars Raymond Burr, Don Galloway and Don Mitchell.
Baur died on September 30, 2017, after a lengthy illness at age 69. She was survived by her husband and her daughter.