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Stock-Based Compensation (Tables) | 12 Months Ended
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Dec. 31, 2023
Share-Based Payment Arrangement [Abstract] |
Restricted Stock Unit Activity | The following table summarizes information about vested and nonvested RSUs for 2023:
| RSUs
| Shares |  | Weighted-Average Grant Date Fair Value
Nonvested at January 1 | 1.2 |  |  | $ | 75.14 |
Granted | 0.4 |  |  | $ | 139.11 |
Vested | (0.5) |  |  | $ | 60.40 |
Forfeited | (0.1) |  |  | $ | 112.36 |
Nonvested at December 31 | 1.0 |  |  | $ | 108.26 |
Stock-Based Compensation Expense and related Tax Benefit Recognized | The following table summarizes the total stock-based compensation expense related to RSUs recognized in Selling, General, and Administrative Expenses in the Consolidated Statements of Income and the total recognized tax benefit related thereto:
| 2023 |  | 2022 |  | 2021
Stock-based compensation expense | $ | 39.7 |  |  | $ | 31.5 |  |  | $ | 35.0 |
Tax benefit related to stock-based compensation expense | $ | 4.5 |  |  | $ | 4.0 |  |  | $ | 2.4 |
Weighted Average Grant-Date Fair Value of Restricted Stock Units Granted and Total Fair Value of Restricted Stock Units Vested | The weighted average grant-date fair value of RSUs and total fair value of RSUs vested are summarized in the following table:
| 2023 |  | 2022 |  | 2021
Weighted average grant-date fair value of RSUs granted | $ | 139.11 |  |  | $ | 112.66 |  |  | $ | 85.45 |
Total fair value of RSUs vested (in millions) | $ | 76.0 |  |  | $ | 85.7 |  |  | $ | 51.8 |

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- Definition Tabular disclosure of the weighted average grant-date fair value of restricted stock units granted and the total fair value of restricted stock units granted and vested. + References No definition available. + Details
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- Definition Tabular disclosure of cost recognized for award under share-based payment arrangement by plan. Includes, but is not limited to, related tax benefit. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Tabular disclosure of the changes in outstanding nonvested restricted stock units. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(2) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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