Anderson told police he had drank a few beers at a bar and then decided to drive home when the crash happened, according to court documents. He told officers he did not see Koenigs until he was right in front of his truck, the criminal complaint said.
Officers reported Anderson's eyes were "red and glossy." They also performed field sobriety tests that indicated he was intoxicated.
A breath test was also performed and Anderson registered an 0.073. The legal limit in Wisconsin is 0.08.
Koenigs was pronounced dead at the scene. An autopsy found he most likely died from blunt force trauma to the head, according to court documents.
Anderson is being held on a $10,000 cash bond. He will be back in court November 30.