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STOCK-BASED COMPENSATION
6 Months Ended
Jun. 30, 2023
Share-Based Payment Arrangement [Abstract]  
STOCK-BASED COMPENSATION STOCK-BASED COMPENSATION
Stock-based compensation expense related to awards issued under the Company's incentive compensation plans for the three and six months ended June 30, 2023 and 2022 was as follows (in millions):
 Three Months Ended
June 30,
Six Months Ended
June 30,
 2023202220232022
Cost of sales$6.2 $6.9 $13.2 $13.1 
Selling, general, and administrative expenses22.5 21.1 44.8 39.8 
Research and development expenses8.7 8.2 18.3 15.7 
Total stock-based compensation expense37.4 36.2 76.3 68.6 
Income tax benefit(6.8)(5.9)(11.5)(10.3)
Total stock-based compensation expense, net of tax$30.6 $30.3 $64.8 $58.3 

At June 30, 2023, the total remaining compensation cost related to nonvested stock options, restricted stock units, market-based restricted stock units, and employee stock purchase plan ("ESPP") subscription awards amounted to $275.0 million, which will be amortized on a straight-line basis over each award's requisite service period. The weighted-average remaining requisite service period is 34 months.

During the six months ended June 30, 2023, the Company granted 1.9 million stock options at a weighted-average
exercise price per share of $88.72, and 0.8 million restricted stock units at a weighted-average grant-date fair value per share of $88.06. During the six months ended June 30, 2023, the Company also granted 0.1 million market-based restricted stock units at a weighted-average grant-date fair value per share of $110.10. The market-based restricted stock units granted during the six months ended June 30, 2023 vest based on a combination of certain service and market conditions. The actual number of shares issued will be determined based on the Company's total shareholder return relative to a selected industry peer group over a three-year performance period and may range from 0% to 175% of the target number of shares granted.
Fair Value Disclosures

The fair value of market-based restricted stock units was determined using a Monte Carlo simulation model, which uses multiple input variables to determine the probability of satisfying the market condition requirements. The weighted-average assumptions used to determine the fair value of the market-based restricted stock units granted during the six months ended June 30, 2023 and 2022 included a risk-free interest rate of 3.6% and 2.8%, respectively, and an expected volatility rate of 32.6% and 33.8%, respectively.

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,
 2023202220232022
Risk-free interest rate3.4 %3.0 %3.4 %3.0 %
Expected dividend yieldNoneNoneNoneNone
Expected volatility32.8 %31.4 %32.8 %31.4 %
Expected term (years)5.15.05.15.0
Fair value, per option$31.03 $35.07 $31.01 $35.08 
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,
 2023202220232022
Risk-free interest rate4.7 %1.1 %4.6 %0.3 %
Expected dividend yieldNoneNoneNoneNone
Expected volatility34.8 %31.5 %31.5 %32.1 %
Expected term (years)0.60.60.60.6
Fair value, per share$22.02 $23.63 $19.03 $28.63