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STOCK-BASED COMPENSATION (Tables)
6 Months Ended
Jun. 30, 2021
Share-based Payment Arrangement [Abstract]  
Schedule of Stock-Based Compensation Expense
Stock-based compensation expense related to awards issued under the Company's incentive compensation plans for the three and six months ended June 30, 2021 and 2020 was as follows (in millions):
 Three Months Ended
June 30,
Six Months Ended
June 30,
 2021202020212020
Cost of sales$5.7 $4.7 $11.2 $9.3 
Selling, general, and administrative expenses18.3 15.3 34.8 29.7 
Research and development expenses6.3 4.8 12.5 9.7 
Total stock-based compensation expense30.3 24.8 58.5 48.7 
Income tax benefit(4.9)(4.1)(8.8)(7.6)
Total stock-based compensation expense, net of tax$25.4 $20.7 $49.7 $41.1 
Schedule of Weighted-Average Assumptions for Options Granted
The following table includes the weighted-average grant-date fair values of stock options granted during the periods indicated and the related weighted-average assumptions used in the Black-Scholes option pricing model:
 Option Awards
Three Months Ended
June 30,
Six Months Ended
June 30,
 2021202020212020
Average risk-free interest rate0.8 %0.3 %0.8 %0.3 %
Expected dividend yieldNoneNoneNoneNone
Expected volatility33.5 %33.5 %33.5 %33.4 %
Expected term (years)5.05.05.05.0
Fair value, per option$28.60 $21.58 $28.54 $21.61 
Schedule of Weighted-Average Assumptions for ESPP Subscriptions Granted
The following table includes the weighted-average grant-date fair values for ESPP subscriptions granted during the periods indicated and the related weighted-average assumptions used in the Black-Scholes option pricing model:
 ESPP
Three Months Ended
June 30,
Six Months Ended
June 30,
 2021202020212020
Average risk-free interest rate0.0 %0.1 %0.1 %1.4 %
Expected dividend yieldNoneNoneNoneNone
Expected volatility32.3 %37.5 %36.8 %32.6 %
Expected term (years)0.60.60.60.6
Fair value, per share$26.03 $18.42 $22.65 $16.06