Windshield Motor Not Working in Cold Weather

I live in an area that regularly gets below 0 degrees Fahrenheit. When I leave my car outside at night, my wiper motor stop working until I drive around for an hour+. I’ve started regularly putting my car in my garage at night now, but I still may face this problem again when I’m parked at work.

Is this a common problem and is there anything I can do to fix it?