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Stock-Based Compensation (Tables)
 12 Months Ended
Dec. 31, 2018
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Stock Option Activity
The following summarizes stock option activity: 
 
Option Shares
 
Weighted Average Exercise Price
(in millions)
2018
 
2017
 
2016
 
2018
 
2017
 
2016
Outstanding, at beginning of year
2.3

 
2.6

 
2.1

 
$
11.08

 
$
10.71

 
$
10.29

Granted
0.3

 
0.5

 
0.7

 
23.14

 
15.30

 
12.69

Exercised
(0.2
)
 
(0.3
)
 
(0.1
)
 
9.49

 
10.53

 
8.39

Canceled or expired
—

 
(0.5
)
 
(0.1
)
 
18.03

 
14.10

 
15.77

Outstanding, at end of year
2.4

 
2.3

 
2.6

 
$
12.51

 
$
11.08

 
$
10.71

Exercisable, at end of year
1.8

 
1.6

 
1.6

 
$
10.59

 
$
9.57

 
$
8.96
Summary of Information Concerning Stock Options Outstanding
The following table summarizes information for stock options outstanding as of December 31, 2018 under all plans:
 
Options Outstanding
 
Options Exercisable
Range of Exercise Prices
Shares
 
Weighted Average
Remaining Life
 
Weighted Average
Exercise Price
 
Shares
 
Weighted Average
Exercise Price
 
(in millions)
 
(in years)
 
 
 
(in millions)
 
 
$5.01 — $10.00
0.9

 
3.2
 
$
6.59

 
0.9

 
$
6.59

10.01 — 15.00
0.8

 
6.7
 
13.12

 
0.6

 
13.26

15.01 — 20.00
0.5

 
7.2
 
16.51

 
0.3

 
16.29

20.01 — 25.00
0.2

 
9.3
 
23.14

 
—

 
23.14

 
2.4

 
5.8
 
$
12.51

 
1.8

 
$
10.59
Summary of Restricted Stock Grants
The following table summarizes restricted stock activity for the year ended December 31, 2018:
 
Number of
Restricted Shares
 
Weighted Average
Price per Share
 
(in millions)
 
 
Outstanding and non-vested, at December 31, 2017
0.2

 
$
15.52

Granted
0.1

 
22.85

Vested
(0.1
)
 
18.23

Forfeited
—

 
17.48

Outstanding and non-vested, at December 31, 2018
0.2

 
$
18.12
Equity Option  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Assumptions Used to Calculate Fair Value
The fair value of each option grant was estimated using the Black-Scholes option pricing model with the following weighted average assumptions:
 
2018
 
2017
 
2016
Dividend yield
1.4
%
 
1.7
%
 
2.2
%
Expected volatility
32
%
 
45
%
 
43
%
Risk free interest rate
2.9
%
 
2.2
%
 
1.3
%
Weighted average expected option life in years
5.9

 
7.5

 
5.8
PSUs  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Schedule of Share-based Compensation, Activity
The following table summarizes PSU activity for the year ended December 31, 2018:
 
Number of PSUs
 
Weighted Average Price per Share
 
(in millions)
 
 
Outstanding and non-vested, at December 31, 2017
0.3

 
$
15.19

Granted
0.1

 
23.14

Vested
(0.1
)
 
12.87

Forfeited
—

 
16.30

Outstanding and non-vested, at December 31, 2018
0.3

 
$
20.13