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Stock-based Compensation and Defined Contribution Plans (Tables) | 12 Months Ended
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Dec. 31, 2023
Share-Based Payment Arrangement [Abstract] |
Summary of Stock-based Compensation Expense | The following table summarizes our stock-based compensation expense and the related income tax benefit:
| Year Ended December 31,
| 2023 |  | 2022 |  | 2021
| (millions)
Stock-based compensation expense | $ | 20 |  |  | $ | 17 |  |  | $ | 12 |
Tax benefit | $ | 5 |  |  | $ | 4 |  |  | $ | 3 |
Summary of Restricted Stock Unit Activity | The following table summarizes restricted stock unit activity for the year ended December 31, 2023:
| Restricted Stock Units |  | Weighted- Average Grant Date Fair Value
| (thousands) |  | (per share)
Nonvested as of December 31, 2022 | 468 |  |  | $ | 43.28 |
Granted (a) | 103 |  |  | 51.28 |
Forfeited | (5) |  |  | 47.80 |
Vested | (149) |  |  | 41.52 |
Nonvested as of December 31, 2023 | 417 |  |  | $ | 45.68 |
_____________________________________ (a)Includes initial grants and dividends reinvested.
Summary of Performance Shares Activity | The following table summarizes performance share award activity for the year ended December 31, 2023:
| Performance Share Awards |  | Weighted- Average Grant Date Fair Value
| (thousands) |  | (per share)
Nonvested as of December 31, 2022 | 409 |  |  | $ | 56.55 |
Granted (a) | 334 |  |  | 59.02 |
Forfeited | (19) |  |  | 62.31 |
Settled | (167) |  |  | 34.83 |
Nonvested as of December 31, 2023 | 557 |  |  | $ | 64.36 |
_____________________________________ (a)Includes initial grants, dividends reinvested and shares added for achievement of final performance objectives on settled awards.

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