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Stock-based Compensation Expense (Tables)
12 Months Ended
Dec. 31, 2020
Share-based Payment Arrangement, Noncash Expense [Abstract]  
Fixed-Price Stock Options
The following table summarizes information about the Company’s fixed-price stock options as of and for the year ended December 31, 2020:
SharesWeighted-Average Exercise PriceWeighted-Average Remaining Contractual Term (Years)Aggregate Intrinsic Value
(in thousands)
Outstanding at December 31, 20191,244,531 $65.67 4.2$14,593 
Granted76,221 81.85 
Exercised(682,068)59.28 
Forfeited(37,843)94.03 
Expired(1,000)41.94 
Outstanding at December 31, 2020599,841 $73.24 5.6$44,554 
Exercisable at December 31, 2020416,289 $64.06 4.4$34,742 
Weighted-Average Assumptions used to Estimate Fair Value of Each Option Granted
The fair value of each option granted during the years ended December 31, 2020, 2019 and 2018 was estimated on the date of grant using the Black-Scholes option-pricing model with the following weighted-average assumptions:
Year Ended December 31,
202020192018
Dividend yield1.69 %1.58 %1.44 %
Volatility32.65 %32.50 %32.48 %
Average expected life (years)666
Risk-free interest rate1.13 %2.81 %3.06 %
Fair value of options granted$22.14 $27.71 $37.35 
The calculation used the following weighted-average assumptions:
Year Ended December 31,
202020192018
Volatility33.66 %30.11 %29.92 %
Risk-free interest rate0.85 %2.43 %2.36 %
Activity in Performance Unit Awards
The following table summarizes activity in performance unit awards as of and for the year ended December 31, 2020:
SharesWeighted-Average Grant Date Fair Value Per Share
Nonvested, beginning of period259,733 $115.69 
Granted87,124 99.44 
Vested(41,749)78.03 
Forfeited(78,300)115.23 
Nonvested, end of period226,808 116.54 
Activity in Non-Performance Based Restricted Stock Awards
The following table summarizes activity in non-performance based restricted stock and restricted stock unit awards as of and for the year ended December 31, 2020:
SharesWeighted-Average Grant Date Fair Value Per Share
Nonvested, beginning of period272,560 $85.98 
Granted185,261 71.70 
Vested(107,215)80.59 
Forfeited(23,862)89.31 
Nonvested, end of period326,744 79.48