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Benefit Plans (Tables) | 12 Months Ended
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Dec. 31, 2021
Retirement Benefits [Abstract] |
Schedule of Fair Value of Options Granted | The following table summarizes the weighted-average assumptions used to compute the fair value of options granted to employees, members of our board of directors and non-employees:
|  |  | For the Years Ended December 31,
|  |  |  |  | 2021 |  | 2020 |  | 2019
Risk-free interest rate |  |  |  |  | 0.6% |  | 1.0% |  | 2.4%
Expected life of options — years |  |  |  |  | 6.06 |  | 3.91 |  | 3.41
Expected stock price volatility |  |  |  |  | 33% |  | 28% |  | 26%
Expected dividend yield |  |  |  |  | 1.0% |  | 0.8% |  | 0.8%
Schedule of Stock Options Activity Under Share-based Payment Plans | The following table summarizes stock option activity under our share-based plans for the years ended December 31, 2021, 2020 and 2019:
| Options |  | Weighted-Average Exercise Price Per Share |  | Weighted-Average Remaining Contractual Term (Years) |  | Aggregate Intrinsic Value
Outstanding at the beginning of January 1, 2019 | 243 |  |  | $ | 4.22 |  |  |  |  |
Awards granted in connection with acquisition | 7 |  |  | $ | 3.85 |  |  |  |  |
Granted | 15 |  |  | $ | 6.10 |  |  |  |  |
Exercised | (53) |  |  | $ | 3.65 |  |  |  |  |
Forfeited, cancelled or expired | (4) |  |  | $ | 5.58 |  |  |  |  |
Outstanding as of December 31, 2019 | 208 |  |  | $ | 4.46 |  |  |  |  |
Granted | 11 |  |  | $ | 6.87 |  |  |  |  |
Exercised | (33) |  |  | $ | 3.66 |  |  |  |  |
Forfeited, cancelled or expired | (2) |  |  | $ | 6.28 |  |  |  |  |
Outstanding as of December 31, 2020 | 184 |  |  | $ | 4.73 |  |  |  |  |
Granted | 54 |  |  | $ | 6.14 |  |  |  |  |
Exercised | (72) |  |  | $ | 3.98 |  |  |  |  |
Forfeited, cancelled or expired | (5) |  |  | $ | 6.73 |  |  |  |  |
Outstanding as of December 31, 2021 | 161 |  |  | $ | 5.47 |  |  | 5.74 |  | $ | 156 |
Exercisable as of December 31, 2021 | 101 |  |  | $ | 5.01 |  |  | 4.92 |  | $ | 144 |
Schedule of Restricted Stock Unit and Stock Award Activity | The following table summarizes the restricted stock unit, including PRSU, activity under our share-based plans for the years ended December 31, 2021, 2020 and 2019:
| Shares |  | Grant Date Fair Value Per Share
Nonvested at the beginning of January 1, 2019 | 35 |  |  | $ | 5.50 |
Awards granted in connection with acquisition | 48 |  |  | $ | 5.83 |
Granted | 38 |  |  | $ | 6.01 |
Vested | (38) |  |  | $ | 5.53 |
Forfeited | (8) |  |  | $ | 5.85 |
Nonvested as of December 31, 2019 | 75 |  |  | $ | 5.95 |
Granted | 37 |  |  | $ | 6.14 |
Vested | (32) |  |  | $ | 5.89 |
Forfeited | (5) |  |  | $ | 6.00 |
Nonvested as of December 31, 2020 | 75 |  |  | $ | 6.06 |
Granted | 40 |  |  | $ | 6.35 |
Vested | (26) |  |  | $ | 6.02 |
Forfeited | (9) |  |  | $ | 6.11 |
Nonvested as of December 31, 2021 | 80 |  |  | $ | 6.22 |

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- Definition Tabular disclosure of the significant assumptions used during the year to estimate the fair value of stock options, including, but not limited to: (a) expected term of share options and similar instruments, (b) expected volatility of the entity's shares, (c) expected dividends, (d) risk-free rate(s), and (e) discount for post-vesting restrictions. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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