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Stock-Based Compensation (Tables)
3 Months Ended
Mar. 31, 2021
Share-based Payment Arrangement [Abstract]  
Stock Option Activity
The following table summarizes the Company’s stock option activity and related information for the 2011 Plan, the 2000 Plan and the Directors Plan for the three months ended March 31, 2021:
OptionsWeighted
Average
Exercise
Price
Weighted
Average
Remaining
Contractual Life
Aggregate
Intrinsic value
(in millions)
Outstanding at December 31, 2020552,669 $69.82 6.1$4.2 
Granted126,794 $81.21 
Exercised(10,128)$40.28 
Canceled(12,422)$71.87 
Outstanding at March 31, 2021656,913 $72.15 6.6$5.6 
Exercisable at March 31, 2021406,953 $57.82 6.0$5.2 
Share-Based Fair Value of Each Option Grant Weighted-Average Assumptions
The fair value of each option grant is estimated on the date of grant using the Black-Scholes option pricing model with the following weighted-average assumptions:
Three Months Ended March 31, 2021
Dividend yield0.60 %
Risk-free interest rate0.81 %
Stock price volatility36.1 %
Expected life (years)5.0
Restricted Stock Activity and Incentive Stock Awards Activity
The following table summarizes the restricted stock activity and incentive stock units activity for the three months ended March 31, 2021:
Restricted
Stock
and Units
Incentive
Stock
Units
Weighted
Average Grant
Date Fair
Value
Outstanding at December 31, 2020656,006 270,645 $73.80 
Granted184,646 241,467 81.21 
Vested(260,675)(37,672)73.17 
Canceled(15,661)(7,498)75.56 
Outstanding at March 31, 2021564,316 466,942 77.00