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Equity (Tables) | 12 Months Ended
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Dec. 31, 2020
Equity |
Schedule of stock option activity | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | Weighted | ​ | ​ | ​ |
​ | ​ | ​ | ​ | ​ | ​ | Average | ​ | Aggregate |
​ | ​ | ​ | ​ | Weighted | ​ | Remaining | ​ | Intrinsic |
​ | ​ | ​ | ​ | Average | ​ | Contractual | ​ | Value | ​
​ |  | Options |  | Exercise Price |  | Term (in years) |  | (in millions) |
Options outstanding at January 1, 2018 |  | 33,222,364 | ​ | $ | 52.27 |  | 7.05 | ​ | ​ | ​ | ​
Options granted |  | 6,302,100 | ​ |  | 87.95 | ​ | ​ | ​ | ​ | ​ | ​
Options exercised |  | (3,464,876) | ​ |  | 37.81 | ​ | ​ | ​ | ​ | ​ | ​
Options forfeited |  | (508,920) | ​ |  | 69.03 | ​ | ​ | ​ | ​ | ​ | ​
Options outstanding at December 31, 2018 |  | 35,550,668 | ​ |  | 59.77 |  | 6.81 | ​ | ​ | ​ | ​
Options granted |  | 6,181,700 | ​ |  | 89.52 | ​ | ​ | ​ | ​ | ​ | ​
Options exercised |  | (5,847,252) | ​ |  | 42.14 | ​ | ​ | ​ | ​ | ​ | ​
Options forfeited |  | (209,910) | ​ |  | 78.17 | ​ | ​ | ​ | ​ | ​ | ​
Options outstanding at December 31, 2019 |  | 35,675,206 | ​ | ​ | 67.70 | ​ | 6.75 | ​ | ​ | ​ | ​
Options granted |  | 6,110,200 | ​ |  | 90.24 | ​ | ​ | ​ | ​ | ​ | ​
Options exercised |  | (7,484,812) | ​ |  | 51.60 | ​ | ​ | ​ | ​ | ​ | ​
Options forfeited |  | (307,770) | ​ |  | 83.11 | ​ | ​ | ​ | ​ | ​ | ​
Options outstanding at December 31, 2020 |  | 33,992,824 | ​ | $ | 75.16 | ​ | 6.79 | ​ | $ | 1,890.4 | ​
Vested and non-vested options expected to vest at December 31, 2020 |  | 31,791,827 | ​ | $ | 74.56 | ​ | 6.71 | ​ | $ | 1,787.1 | ​
Exercisable options at December 31, 2020 |  | 15,498,174 | ​ | $ | 63.73 | ​ | 5.32 | ​ | $ | 1,039.0 | ​
Summary of status of non-vested options and changes during the year | ​
​ | ​ | ​ | ​ | ​ | ​ | ​
​ |  | ​ |  | Weighted Average |
​ | ​ | ​ | ​ | Fair Value | ​
​ | ​ | Options | ​ | at Grant Date |
Non-vested options at January 1, 2020 |  | 19,016,830 | ​ | $ | 10.72 | ​
Options granted |  | 6,110,200 | ​ |  | 16.35 | ​
Options vested |  | (6,324,610) | ​ |  | 9.87 | ​
Options forfeited |  | (307,770) | ​ |  | 12.03 | ​
Non-vested options at December 31, 2020 |  | 18,494,650 | ​ | $ | 12.85 | ​
Summary of activity in the option plans | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | 2020 |  | 2019 |  | 2018
Total intrinsic value of stock options exercised | ​ | $ | 436.1 | ​ | $ | 329.6 | ​ | $ | 188.1
Total fair value of stock options vested | ​ |  | 62.4 | ​ |  | 57.3 | ​ |  | 51.0
Schedule of fair value of stock options estimated at the date of grant using the Black-Scholes option-pricing model with the following weighted-average assumptions | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ |  | 2020 |  | ​ | 2019 |  | ​ | 2018 |  | ​
Risk free interest rate |  | 0.3 | % |  | 2.1 | % |  | 2.9 | % | ​
Expected life |  | 4.7 | years |  | 4.7 | years |  | 4.7 | years | ​
Expected volatility |  | 24.0 | % |  | 14.0 | % |  | 13.0 | % | ​
Expected dividend yield |  | 1.1 | % |  | 1.0 | % |  | 1.0 | % | ​
Schedule of restricted stock activity | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | Weighted Average | ​
​ | ​ | ​ | ​ | Fair Value | ​ | Remaining | ​
​ | ​ | Restricted | ​ | at Grant | ​ | Amortization | ​
​ |  | Shares |  | Date |  | Term (in years) |
Restricted shares outstanding at January 1, 2018 |  | 12,905 | ​ | $ | 73.25 |  | 0.37 | ​
Restricted shares granted |  | 15,014 | ​ |  | 87.84 | ​ | ​ | ​
Shares vested and issued |  | (13,046) | ​ |  | 73.35 | ​ | ​ | ​
Restricted shares outstanding at December 31, 2018 |  | 14,873 | ​ |  | 87.89 |  | 0.39 | ​
Restricted shares granted |  | 14,304 | ​ |  | 89.49 | ​ | ​ | ​
Shares vested and issued |  | (16,661) | ​ |  | 88.07 | ​ | ​ | ​
Restricted shares outstanding at December 31, 2019 |  | 12,516 |  | ​ | 89.49 |  | 0.39 | ​
Restricted shares granted |  | 13,175 | ​ |  | 91.11 | ​ | ​ | ​
Shares vested and issued |  | (12,516) | ​ |  | 89.49 | ​ | ​ | ​
Restricted shares outstanding at December 31, 2020 |  | 13,175 |  | $ | 91.11 |  | 0.38 | ​
Schedules of dividends | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ |  | 2020 | ​ | 2019 | ​ | 2018
First Quarter | ​ | $ | 0.25 | ​ | $ | 0.23 | ​ | $ | 0.19
Second Quarter | ​ | ​ | 0.25 | ​ | ​ | 0.23 | ​ | ​ | 0.23
Third Quarter | ​ | ​ | 0.25 | ​ | ​ | 0.25 | ​ | ​ | 0.23
Fourth Quarter | ​ | ​ | 0.29 | ​ | ​ | 0.25 | ​ | ​ | 0.23
Total | ​ | $ | 1.04 | ​ | $ | 0.96 | ​ | $ | 0.88
​ Dividends declared and paid for the years ended December 31, 2020, 2019 and 2018 were as follows: ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ |  | 2020 | ​ | 2019 | ​ | 2018
Dividends declared | ​ | $ | 310.0 | ​ | $ | 285.3 | ​ | $ | 264.3
Dividends paid (including those declared in the prior year) | ​ |  | 297.6 | ​ |  | 279.5 | ​ |  | 253.7
​
Schedule of components comprising Accumulated other comprehensive income (loss) included in equity | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | Foreign | ​ | Unrealized | ​ | Pension and | ​ | Accumulated |
​ | ​ | Currency | ​ | Gain (Loss) | ​ | Postretirement | ​ | Other | ​
​ | ​ | Translation | ​ | on Hedging | ​ | Benefit Plan | ​ | Comprehensive |
​ |  | Adjustments |  | Activities |  | Adjustment |  | (Loss) Income |
Balance at January 1, 2018 | ​ | $ | (33.2) | ​ | $ | (0.2) | ​ | $ | (167.6) | ​ | $ | (201.0) | ​
Other comprehensive income (loss) before reclassifications, net of tax of nil, ($0.1) and $6.6, respectively | ​ | ​ | (164.3) | ​ | ​ | 0.4 | ​ | ​ | (22.0) | ​ | ​ | (185.9) | ​
Amounts reclassified from Accumulated other comprehensive income (loss) to earnings, net of tax of ($6.4) | ​ | ​ | — | ​ | ​ | — | ​ | ​ | 20.2 | ​ | ​ | 20.2 | ​
Amounts reclassified from Accumulated other comprehensive income (loss) to retained earnings, resulting from income tax effects of the Tax Act (ASU 2018-02) | ​ | ​ | — | ​ | ​ | — | ​ | ​ | (23.5) | ​ | ​ | (23.5) | ​
Balance at December 31, 2018 | ​ |  | (197.5) | ​ |  | 0.2 | ​ |  | (192.9) | ​ |  | (390.2) | ​
Other comprehensive income (loss) before reclassifications, net of tax of nil, nil and $5.3, respectively | ​ | ​ | (40.4) | ​ | ​ | 0.1 | ​ | ​ | (15.7) | ​ | ​ | (56.0) | ​
Amounts reclassified from Accumulated other comprehensive income (loss) to earnings, net of tax of ($4.9) | ​ | ​ | — | ​ | ​ | — | ​ | ​ | 15.3 | ​ | ​ | 15.3 | ​
Balance at December 31, 2019 | ​ |  | (237.9) | ​ |  | 0.3 | ​ |  | (193.3) | ​ |  | (430.9) | ​
Other comprehensive income (loss) before reclassifications, net of tax of nil, nil and $7.1, respectively | ​ | ​ | 151.3 | ​ | ​ | (0.2) | ​ | ​ | (18.9) | ​ | ​ | 132.2 | ​
Amounts reclassified from Accumulated other comprehensive income (loss) to earnings, net of tax of ($6.7) | ​ | ​ | — | ​ | ​ | — | ​ | ​ | 20.6 | ​ | ​ | 20.6 | ​
Balance at December 31, 2020 | ​ | $ | (86.6) | ​ | $ | 0.1 | ​ | $ | (191.6) | ​ | $ | (278.1) | ​

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