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Stock-Based Payments (Tables)
12 Months Ended
Dec. 31, 2023
Share-Based Payment Arrangement, Noncash Expense [Abstract]  
Compensation expense for stock-based payments and total income tax benefit recognized
Total compensation expense for all stock-related awards (including ESPP) and total income tax benefit recognized on the consolidated statements of income for these awards at December 31, 2023 and 2022 and 2021 were as follows:
(in millions)202320222021
Compensation expense$83.7 $84.8 $76.4 
Income tax benefit recognized14.2 13.2 20.6 
Schedule of Nonvested Share Activity [Table Text Block]
The following table summarizes restricted stock, restricted stock units and performance shares activity for 2023:
Number of SharesWeighted
Average
Grant Date
Fair Value
Outstanding at December 31, 20221,117,459 $204 
Granted468,675 206 
Vested(240,707)190 
Cancelled(245,547)209 
Outstanding at December 31, 20231,099,880 204