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SHARE-BASED COMPENSATION (Tables) | 9 Months Ended
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Sep. 30, 2022
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, 2022, is presented as follows (in millions, except per share amounts):
|  | Stock Options Outstanding
|  | Number Outstanding |  | Weighted-Average Exercise Price Per Share
Balance as of December 31, 2021 |  | 11.7 |  |  | $ | 125.07 |
Options granted |  | 1.1 |  |  | $ | 250.26 |
Options exercised |  | (1.4) |  |  | $ | 76.22 |
Options forfeited/expired |  | (0.1) |  |  | $ | 236.30 |
Balance as of September 30, 2022 |  | 11.3 |  |  | $ | 141.78 |
Summary of RSU Activity | A summary of RSUs activity under all stock plans for the nine months ended September 30, 2022, is presented as follows (in millions, except per share amounts):
| Shares |  | Weighted-Average Grant-Date Fair Value
Unvested balance as of December 31, 2021 | 4.8 |  |  | $ | 207.37 |
RSUs granted | 1.9 |  |  | $ | 276.28 |
RSUs vested | (1.8) |  |  | $ | 189.31 |
RSUs forfeited | (0.2) |  |  | $ | 232.59 |
Unvested balance as of September 30, 2022 | 4.7 |  |  | $ | 241.87 |
Summary of Share-Based Compensation Expense | The following table summarizes share-based compensation expense for the three and nine months ended September 30, 2022, and 2021 (in millions):
| Three Months Ended September 30, |  | Nine Months Ended September 30,
| 2022 |  | 2021 |  | 2022 |  | 2021
Cost of sales–products | $ | 22.0 |  |  | $ | 19.0 |  |  | $ | 61.0 |  |  | $ | 50.9 |
Cost of sales–services | 6.3 |  |  | 6.0 |  |  | 17.7 |  |  | 16.9 |
Total cost of sales | 28.3 |  |  | 25.0 |  |  | 78.7 |  |  | 67.8 |
Selling, general, and administrative | 68.0 |  |  | 62.5 |  |  | 191.0 |  |  | 171.3 |
Research and development | 42.3 |  |  | 35.4 |  |  | 117.6 |  |  | 98.1 |
Share-based compensation expense before income taxes | 138.6 |  |  | 122.9 |  |  | 387.3 |  |  | 337.2 |
Income tax benefit | 26.9 |  |  | 24.8 |  |  | 75.0 |  |  | 67.9 |
Share-based compensation expense after income taxes | $ | 111.7 |  |  | $ | 98.1 |  |  | $ | 312.3 |  |  | $ | 269.3 |
Schedule of Estimated Fair Value of the Option Using Black-Scholes Option Pricing Model, Weighted Average Assumptions | 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 nine months ended September 30, 2022, and 2021, were as follows:
| Three Months Ended September 30, |  | Nine Months Ended September 30,
| 2022 |  | 2021 |  | 2022 |  | 2021
Stock Options |  |  |  |  |  |  |
Risk-free interest rate | 3.4% |  | 0.8% |  | 2.5% |  | 0.8%
Expected term (in years) | 3.0 |  | 3.8 |  | 3.2 |  | 4.1
Expected volatility | 42% |  | 31% |  | 38% |  | 32%
Fair value at grant date | $66.00 |  | $87.35 |  | $73.51 |  | $78.17
ESPP |  |  |  |  |  |  |
Risk-free interest rate | 2.9% |  | 0.1% |  | 2.1% |  | 0.1%
Expected term (in years) | 1.2 |  | 1.2 |  | 1.2 |  | 1.2
Expected volatility | 40% |  | 29% |  | 39% |  | 29%
Fair value at grant date | $75.01 |  | $91.07 |  | $80.61 |  | $89.98

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- Definition Tabular disclosure of the number and weighted-average grant date fair value for restricted stock units that were outstanding at the beginning and end of the year, and the number of restricted stock units that were granted, vested, or forfeited during the year. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Tabular disclosure for stock option plans. Includes, but is not limited to, outstanding awards at beginning and end of year, grants, exercises, forfeitures, and weighted-average grant date fair value. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (e) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Tabular disclosure of the weighted-average grant-date fair value of equity options or other equity instruments granted during the year. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d)(1) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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