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SHARE-BASED COMPENSATION (Tables)
9 Months Ended
Sep. 30, 2019
Share-based Payment Arrangement [Abstract]  
Summary of Stock Option Activity Under All Stock Plans
A summary of stock option activity under all stock plans for the nine months ended September 30, 2019, is presented as follows (in millions, except per share amounts):
 Stock Options Outstanding
 Number
Outstanding
Weighted Average
Exercise Price Per
Share
Balance at December 31, 20186.2  $200.79  
Granted0.6  $521.46  
Exercised(1.0) $154.71  
Forfeited/expired(0.1) $344.13  
Balance at September 30, 20195.7  $239.91  
Summary of RSU Activity
A summary of RSUs activity for the nine months ended September 30, 2019, is presented as follows (in millions, except per share amounts):
 SharesWeighted Average
Grant Date Fair Value
Unvested balance at December 31, 20182.0  $295.70  
Granted0.8  $541.18  
Vested(0.8) $255.09  
Forfeited(0.1) $368.66  
Unvested balance at September 30, 20191.9  $405.39  
Summary of Share-Based Compensation Expense
The following table summarizes share-based compensation expense for the three and nine months ended September 30, 2019, and 2018 (in millions):
 Three Months Ended 
September 30,
Nine Months Ended 
September 30,
 2019201820192018
Cost of sales - products$12.4  $10.1  $34.8  $27.2  
Cost of sales - services5.6  4.5  14.9  12.5  
Total cost of sales18.0  14.6  49.7  39.7  
Selling, general and administrative44.7  35.9  124.0  98.1  
Research and development26.6  20.2  74.5  54.4  
Share-based compensation expense before income taxes89.3  70.7  248.2  192.2  
Income tax benefit18.1  14.9  51.0  40.0  
Share-based compensation expense after income taxes$71.2  $55.8  $197.2  $152.2  
Schedule of Estimated Fair Value of the Option Using Black-Scholes Option Pricing Model, Weighted Average Assumptions
The Black-Scholes option pricing model is used to estimate the fair value of stock options granted under the Company’s stock plans and rights to acquire stock granted under the ESPP. The weighted-average estimated fair values of stock options and rights to acquire stock under the ESPP, as well as the weighted-average assumptions used in calculating those fair values, were as follows:
 Three Months Ended 
September 30,
Nine Months Ended 
September 30,
 2019201820192018
Stock Options
Risk-free interest rate1.5%  2.7%  2.0%  2.7%  
Expected term (in years)3.94.34.14.3
Expected volatility30%  32%  30%  33%  
Fair value at grant date$127.19  $159.67  $142.22  $145.15  
ESPP
Risk-free interest rate1.9%  2.5%  2.1%  2.1%  
Expected term (in years)1.21.31.21.3
Expected volatility29%  31%  29%  32%  
Fair value at grant date$146.48  $153.72  $148.99  $135.84