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Stock-Based Compensation (Tables)
 9 Months Ended
Sep. 30, 2023
Share-Based Payment Arrangement [Abstract]  
Schedule of Number and Weighted Average Exercise Price of Options Issued and Outstanding under all Stock Option Plans
The number and weighted-average exercise price of options issued and outstanding under all of the Company’s equity plans are as follows:
Nine Months Ended
September 30, 2023
(in millions, except for weighted-average exercise prices)
SharesWeighted-Average
Exercise Price
Options outstanding, beginning of period2.9 $83.85 
Granted0.1 177.29 
Canceled— 172.15 
Exercised(0.2)43.57 
Options outstanding, end of period2.8 $88.24 
Options exercisable, end of period2.4 $73.68 
Schedule of Share-based Compensation, Restricted Stock Units Award Activity
The number of RSUs issued and outstanding under all of the Company’s equity plans are as follows:
Nine Months Ended
September 30, 2023
(in millions, except for weighted-average grant date fair value amounts)
UnitsWeighted-Average Grant
 Date Fair Value
RSUs outstanding, beginning of period3.1 $105.65 
Granted0.2 172.34 
Expired(0.1)171.52 
Vested(0.1)170.42 
RSUs outstanding, end of period3.1 $107.66 
Schedule of Nonvested Performance-based Units Activity
The number of PSUs outstanding under all of the Company’s equity plans are as follows:
Nine Months Ended
September 30, 2023
(in millions, except for weighted-average grant date fair value amounts)UnitsWeighted-Average Grant
 Date Fair Value
PSUs outstanding, beginning of period0.3 $180.04 
Granted(1)
0.1 204.67 
Expired— 139.73 
Vested(0.1)179.42 
PSUs outstanding, end of period0.3 $190.11 
______________
(1)     On February 27, 2023, the Audit Committee approved the weighted payout percentage for the 2020 PSU awards (three-year performance period), which were based upon the actual fiscal 2022 performance against pre-established performance objectives. Included in the granted amount are those additional PSUs earned based on actual performance achieved. These PSUs were originally awarded at target.
Schedule of Range of Assumptions Used and Resulting Weighted-Average Fair Value of Options Granted at Date of Grant The range of assumptions used and the resulting weighted-average fair value of options granted at the date of grant were as follows:
Three Months EndedNine Months Ended
September 30,
 2023(1)
October 1,
 2022(1)
September 30,
2023		October 1,
2022
Risk-free interest rate
—%
—%
4.2%
1.0% to 1.9%
Expected term (in years)——5.95.7
Estimated volatility
—%
—%
36.7%
31.2% to 38.9%
Expected dividends—%—%—%—%
Weighted-average fair value of options granted$—$—$75.08$49.69
__________________
(1)    No stock options were granted during the three months ended September 30, 2023 and October 1, 2022.