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Stock Compensation Plans (Tables)
 12 Months Ended
Dec. 31, 2023
Share-Based Payment Arrangement [Abstract]  
Schedule of Stock Compensation Expense The Company recorded stock compensation expense as follows for the years ended December 31, 2023, 2022 and 2021 (in millions):
Years Ended December 31,
202320222021
Cost of goods sold$1.8 $1.3 $1.0 
Selling, general and administrative expenses44.6 32.7 26.6 
Total stock compensation expense$46.4 $34.0 $27.6 
Schedule of weighted average grant-date fair value of performance awards The weighted average grant-date fair value of performance awards granted under the Plan during 2023, 2022 and 2021 was as follows:
Years Ended December 31,
202320222021
Weighted average grant-date fair value$143.63 $119.35 $123.33 
The weighted average grant-date fair value of the RSUs granted under the Plan during 2023, 2022 and 2021 was as follows:
Years Ended December 31,
202320222021
Weighted average grant-date fair value$134.63 $109.09 $113.91 
Performance Award Transactions Performance award transactions during 2023 were as follows and are presented as if the Company were to achieve its maximum levels of performance under the plan:
Performance awardsWeighted-Average Grant Date
Fair Value
Shares awarded but not earned at January 1543,904 $120.94 
Shares awarded289,742 143.63
Shares forfeited(29,786)127.77
Shares vested or earned(232,478)123.28
Shares awarded but not earned at December 31571,382 $131.14 
Schedule of Nonvested Restricted Stock Units Activity RSU transactions during the year ended December 31, 2023 were as follows:
RSUsWeighted-Average
Grant Date
Fair Value
Shares awarded but not vested at January 1213,198 $104.62 
Shares awarded (1)
117,840 134.63
Shares forfeited(9,293)120.39
Shares vested(107,798)98.95
Shares awarded but not vested at December 31213,947 $122.48 
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(1)     RSUs shares awarded and shares vested include 5,017 shares related to the 25% additional shares issued to certain executives based on a total margin improvement metric relative to the Company’s defined peer group that applied to grants made in 2020.