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SHARE-BASED COMPENSATION (Tables)
6 Months Ended
Jun. 30, 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 six months ended June 30, 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 $744.83 
Options exercised(0.5)$213.18 
Options forfeited/expired(0.1)$564.48 
Balance at June 30, 20214.1 $335.91 
Summary of RSU Activity
A summary of RSUs activity under all stock plans for the six months ended June 30, 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 granted0.6 $742.47 
RSUs vested(0.7)$428.83 
RSUs forfeited(0.1)$563.37 
Unvested balance at June 30, 2021
1.6 $601.49 
Summary of Share-Based Compensation Expense
The following table summarizes share-based compensation expense for the three and six months ended June 30, 2021, and 2020 (in millions):
 Three Months Ended June 30,Six Months Ended June 30,
 2021202020212020
Cost of sales – products$16.6 $14.2 $31.9 $27.0 
Cost of sales – services5.2 5.2 10.9 10.7 
Total cost of sales21.8 19.4 42.8 37.7 
Selling, general, and administrative55.7 49.6 108.8 95.3 
Research and development32.6 27.4 62.7 54.6 
Share-based compensation expense before income taxes110.1 96.4 214.3 187.6 
Income tax benefit22.5 20.0 43.1 38.9 
Share-based compensation expense after income taxes$87.6 $76.4 $171.2 $148.7 
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 and six months ended June 30, 2021, and 2020, were as follows:
 Three Months Ended June 30,Six Months Ended June 30,
 2021202020212020
Stock Options
Risk-free interest rate0.8%0.4%0.7%0.8%
Expected term (in years)4.04.24.34.3
Expected volatility27%38%33%30%
Fair value at grant date$190.94$165.18$209.89$138.24
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