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Equity (Tables) | 12 Months Ended
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Dec. 31, 2021
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, 2019 |  | 71,101,336 | ​ | $ | 29.88 |  | 6.81 | ​ | ​ | ​ | ​
Options granted |  | 12,363,400 | ​ |  | 44.76 | ​ | ​ | ​ | ​ | ​ | ​
Options exercised |  | (11,694,504) | ​ |  | 21.07 | ​ | ​ | ​ | ​ | ​ | ​
Options forfeited |  | (419,820) | ​ |  | 39.08 | ​ | ​ | ​ | ​ | ​ | ​
Options outstanding at December 31, 2019 |  | 71,350,412 | ​ |  | 33.85 |  | 6.75 | ​ | ​ | ​ | ​
Options granted |  | 12,220,400 | ​ |  | 45.12 | ​ | ​ | ​ | ​ | ​ | ​
Options exercised |  | (14,969,624) | ​ |  | 25.80 | ​ | ​ | ​ | ​ | ​ | ​
Options forfeited |  | (615,540) | ​ |  | 41.55 | ​ | ​ | ​ | ​ | ​ | ​
Options outstanding at December 31, 2020 |  | 67,985,648 | ​ | ​ | 37.58 | ​ | 6.79 | ​ | ​ | ​ | ​
Options granted |  | 7,543,589 | ​ |  | 66.65 | ​ | ​ | ​ | ​ | ​ | ​
Options exercised |  | (9,692,199) | ​ |  | 29.87 | ​ | ​ | ​ | ​ | ​ | ​
Options forfeited |  | (536,290) | ​ |  | 48.00 | ​ | ​ | ​ | ​ | ​ | ​
Options outstanding at December 31, 2021 |  | 65,300,748 | ​ | $ | 42.00 | ​ | 6.47 | ​ | $ | 2,968.8 | ​
Vested and non-vested options expected to vest at December 31, 2021 |  | 62,319,077 | ​ | $ | 41.64 | ​ | 6.40 | ​ | $ | 2,855.5 | ​
Exercisable options at December 31, 2021 |  | 33,920,465 | ​ | $ | 35.27 | ​ | 5.19 | ​ | $ | 1,770.3 | ​
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, 2021 |  | 36,989,300 | ​ | $ | 6.43 | ​
Options granted |  | 7,543,589 | ​ |  | 13.27 | ​
Options vested |  | (12,616,316) | ​ |  | 5.68 | ​
Options forfeited |  | (536,290) | ​ |  | 7.91 | ​
Non-vested options at December 31, 2021 |  | 31,380,283 | ​ | $ | 8.34 | ​
Summary of activity in the option plans | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ | ​ | ​ | 2021 |  | 2020 |  | 2019
Total intrinsic value of stock options exercised | ​ | ​ | $ | 430.9 | ​ | $ | 436.1 | ​ | $ | 329.6
Total fair value of stock options vested | ​ | ​ |  | 71.7 | ​ |  | 62.4 | ​ |  | 57.3
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 | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ |  | 2021 |  | 2020 |  | 2019 | ​
Risk free interest rate |  | 0.7 | % |  | 0.3 | % |  | 2.1 | % | ​
Expected life |  | 4.7 | years |  | 4.7 | years |  | 4.7 | years | ​
Expected volatility |  | 25.0 | % |  | 24.0 | % |  | 14.0 | % | ​
Expected dividend yield |  | 1.0 | % |  | 1.1 | % |  | 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, 2019 |  | 29,746 | ​ | $ | 43.95 |  | 0.39 | ​
Restricted shares granted |  | 28,608 | ​ |  | 44.75 | ​ | ​ | ​
Shares vested and issued |  | (33,322) | ​ |  | 44.03 | ​ | ​ | ​
Restricted shares outstanding at December 31, 2019 |  | 25,032 | ​ |  | 44.75 |  | 0.39 | ​
Restricted shares granted |  | 26,350 | ​ |  | 45.55 | ​ | ​ | ​
Shares vested and issued |  | (25,032) | ​ |  | 44.75 | ​ | ​ | ​
Restricted shares outstanding at December 31, 2020 |  | 26,350 |  | ​ | 45.55 |  | 0.38 | ​
Restricted shares granted |  | 21,983 | ​ |  | 66.33 | ​ | ​ | ​
Shares vested and issued |  | (27,272) | ​ |  | 45.80 | ​ | ​ | ​
Restricted shares outstanding at December 31, 2021 |  | 21,061 |  | $ | 66.92 |  | 0.38 | ​
Schedules of dividends | ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ |  | 2021 | ​ | 2020 | ​ | 2019
First Quarter | ​ | $ | 0.145 | ​ | $ | 0.125 | ​ | $ | 0.115
Second Quarter | ​ | ​ | 0.145 | ​ | ​ | 0.125 | ​ | ​ | 0.115
Third Quarter | ​ | ​ | 0.145 | ​ | ​ | 0.125 | ​ | ​ | 0.125
Fourth Quarter | ​ | ​ | 0.20 | ​ | ​ | 0.145 | ​ | ​ | 0.125
Total | ​ | $ | 0.635 | ​ | $ | 0.52 | ​ | $ | 0.48
​ Dividends declared and paid for the years ended December 31, 2021, 2020 and 2019 were as follows: ​
​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​ | ​
​ |  | 2021 | ​ | 2020 | ​ | 2019
Dividends declared | ​ | $ | 379.7 | ​ | $ | 310.0 | ​ | $ | 285.3
Dividends paid (including those declared in the prior year) | ​ |  | 346.7 | ​ |  | 297.6 | ​ |  | 279.5
​
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, 2019 | ​ | $ | (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) | ​
Other comprehensive income (loss) before reclassifications, net of tax of nil, nil and ($12.3), respectively | ​ | ​ | (66.2) | ​ | ​ | — | ​ | ​ | 37.4 | ​ | ​ | (28.8) | ​
Amounts reclassified from Accumulated other comprehensive income (loss) to earnings, net of tax of ($6.6) | ​ | ​ | — | ​ | ​ | — | ​ | ​ | 20.4 | ​ | ​ | 20.4 | ​
Balance at December 31, 2021 | ​ | $ | (152.8) | ​ | $ | 0.1 | ​ | $ | (133.8) | ​ | $ | (286.5) | ​

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