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Stock-based compensation | 3 Months Ended
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Mar. 31, 2023
Share-Based Payment Arrangement [Abstract] |
Stock-based compensation | 10. Stock-based compensation The following table presents the components of stock-based compensation expense:
(in millions) | Classification |  | Three months ended March 31, |  |
| 2023 |  | 2022 |  |  |  |
Stock options | Equity |  | $ | 3.6 |  |  | $ | 4.0 |  |  |  |  |
RSUs | Equity |  | 8.7 |  |  | 7.6 |  |  |  |  |
Other | Both |  | 0.4 |  |  | (0.9) |  |  |  |  |
Total | $ | 12.7 |  |  | $ | 10.7 |  |  |  |  |
Award classification: |  |  |  |  |  |  |
Equity | $ | 12.6 |  |  | $ | 12.0 |  |  |  |  |
Liability | 0.1 |  |  | (1.3) |  |  |  |  |
At March 31, 2023, unvested awards under our plans have remaining stock-based compensation expense of $112.6 million to be recognized over a weighted average period of 2.1 years. Stock options The following table presents information about outstanding stock options:
(options and intrinsic value in millions) | Number of options |  | Weighted average exercise price per option |  | Aggregate intrinsic value |  | Weighted average remaining term
Balance at December 31, 2022 | 16.1 |  |  | $ | 20.90 |  |  |  |  |
Granted | 1.5 |  |  | 24.62 |  |  |  |  |
Exercised | (0.1) |  |  | 13.19 |  |  |  |  |
Forfeited | (0.1) |  |  | 22.39 |  |  |  |  |
Balance at March 31, 2023 | 17.4 |  |  | 21.26 |  |  | $ | 40.5 |  |  | 6.2 years
Expected to vest | 4.5 |  |  | 24.15 |  |  | 6.6 |  |  | 8.4 years
Vested | 12.9 |  |  | 20.25 |  |  | 33.9 |  |  | 5.4 years
During the three months ended March 31, 2023, we granted stock options that have a contractual life of ten years and will vest annually over four years, subject to the recipient continuously providing service to us through such date. RSUs The following table presents information about unvested RSUs:
(awards in millions) | Number of awards |  | Weighted average grant date fair value per award
Balance at December 31, 2022 | 4.2 |  |  | $ | 24.29 |
Granted | 1.6 |  |  | 26.88 |
Vested | (0.9) |  |  | 21.22 |
Forfeited | — |  |  | 27.81 |
Balance at March 31, 2023 | 4.9 |  |  | 25.76 |
During the three months ended March 31, 2023, we granted RSUs that will vest annually over three to four years, subject to the recipient continuously providing service to us through each such date. Certain of those awards contain performance and market conditions that impact the number of shares that will ultimately vest. The expense recorded on such awards for the three months ended March 31, 2023 and March 31, 2022 was $2.3 million and $2.3 million, respectively.

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