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Incentive Plans (Tables)
12 Months Ended
Dec. 31, 2020
Share-based Payment Arrangement [Abstract]  
Summary of Amounts Recognized in Financial Statements with Respect to Share-Based Plans
Amounts recognized in the financial statements by the Company with respect to all share-based plans are shown in the following table. 
 Years Ended December 31,
(Millions of dollars)202020192018
Compensation charged against income before income tax benefit$14.3 $10.5 $9.2 
Related income tax benefit recognized in income$3.0 $2.2 $1.9 
Summary of Valuation Assumptions
Following are the assumptions used by the Company to value the original awards:

 Years Ended December 31,
 202020192018
Fair value per option grant$28.28 $20.48 $17.32 
Assumptions   
Dividend yield— — — 
Expected volatility28.1 %26.8 %27.0 %
Risk-free interest rate1.5 %2.5 %2.4 %
Expected life (years)4.74.53.9
Stock price at valuation date$106.72 $76.15 $71.00 
Summary of Changes in Stock Options Outstanding
Changes in options outstanding for Company employees during the period from December 31, 2019 to December 31, 2020 are presented in the following table:

OptionsNumber of SharesWeighted Average Exercise PriceWeighted Average Remaining Contractual Term (Years)Aggregate Intrinsic Value (Millions of Dollars)
Outstanding at December 31, 2019392,300 68.52 
Granted 79,200 105.57 
Exercised(148,800)64.21 
Outstanding at December 31, 2020322,700 $79.60 4.6$16.5 
Exercisable at December 31, 2020110,700 $66.91 3.3$7.1 
Summary of Additional Stock Option Information
Additional information about stock options outstanding at December 31, 2020 is shown below: 
 Options OutstandingOptions Exercisable
Range of Exercise Prices per OptionNo. of OptionsAvg. Life Remaining in YearsNo. of OptionsAvg. Life Remaining in Years
 $50.00 to $59.99
7,300 2.17,300 2.1
 $60.00 to $69.99
69,500 3.169,500 3.1
 $70.00 to $79.99
166,700 4.633,900 3.9
 $80.00 to $89.99
3,600 6.2— 
$100.00 to $109.99
75,600 6.1— 
 322,700 4.6110,700 3.3
Summary of Restricted Stock Unit Activity
Changes in restricted stock units outstanding for Company employees during the period from December 31, 2019 to December 31, 2020 are presented in the following table:

Employee RSUsNumber of unitsWeighted Average Grant Date Fair ValueTotal Fair Value (Millions of Dollars)
Outstanding at December 31, 2019198,915 $70.58 
Granted55,734 $90.09 
Vested and issued(59,324)$66.31 $6.4 
Forfeited(12,530)$78.43 
Outstanding at December 31, 2020182,795 $77.38 $23.9 
Changes in performance-based restricted stock units outstanding for Company employees during the period from December 31, 2019 to December 31, 2020 are presented in the following table:
Employee PSU'sNumber of UnitsWeighted Average Grant Date Fair ValueTotal Fair Value (Millions of Dollars)
Outstanding at December 31, 2019131,200 $82.98 
Granted64,290 $122.95 
Vested and issued(65,745)$85.04 $7.0 
Forfeited(405)$65.75 
Outstanding at December 31, 2020129,340 $97.01 $16.9 
Changes in restricted stock units outstanding for Company non-employee directors during the period from December 31, 2019 to December 31, 2020 are presented in the following table:
Director RSU'sNumber of UnitsWeighted Average Grant Date Fair ValueTotal Fair Value (Millions of Dollars)
Outstanding at December 31, 201933,607 $70.68 
Granted 9,801 $105.33 
Vested and issued(12,404)$66.01 $1.3 
Outstanding at December 31, 202031,004 $83.31 $4.1