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SHARE-BASED COMPENSATION (Tables)
3 Months Ended
Mar. 31, 2021
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 three months ended March 31, 2021, 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, 20204.5 $305.06 
Options granted0.2 $740.73 
Options exercised(0.2)$194.72 
Options forfeited/expired(0.1)$572.55 
Balance at March 31, 20214.4 $328.52 
Summary of RSU Activity
A summary of RSUs activity under all stock plans for the three months ended March 31, 2021, is presented as follows (in millions, except per share amounts):
 SharesWeighted Average
Grant Date Fair Value
Unvested balance at December 31, 2020
1.8 $489.91 
RSUs granted0.5 $738.14 
RSUs vested(0.6)$427.50 
RSUs forfeited— $555.03 
Unvested balance at March 31, 2021
1.7 $593.77 
Summary of Share-Based Compensation Expense
The following table summarizes share-based compensation expense for the three months ended March 31, 2021, and 2020 (in millions):
 Three Months Ended March 31,
 20212020
Cost of sales – products$15.3 $12.8 
Cost of sales – services5.7 5.5 
Total cost of sales21.0 18.3 
Selling, general, and administrative53.1 45.7 
Research and development30.1 27.2 
Share-based compensation expense before income taxes104.2 91.2 
Income tax benefit20.6 18.9 
Share-based compensation expense after income taxes$83.6 $72.3 
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 share-based compensation plans and rights to acquire stock granted under the ESPP. The weighted average estimated fair values of stock options and the rights to acquire stock under the ESPP, as well as the weighted average assumptions used in calculating the fair values of stock options and the rights to acquire stock under the ESPP that were granted during the three months ended March 31, 2021, and 2020, were as follows:
 Three Months Ended March 31,
 20212020
Stock Options
Risk-free interest rate0.7%0.9%
Expected term (in years)4.34.3
Expected volatility34%28%
Fair value at grant date$211.00$133.25
ESPP
Risk-free interest rate0.1%1.5%
Expected term (in years)1.21.1
Expected volatility35%27%
Fair value at grant date$223.17$149.85