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Stock-Based Compensation Plans (Tables) | 12 Months Ended
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Dec. 31, 2019
Share-based Payment Arrangement [Abstract] |
Schedule of Share-based Compensation Activity | A summary of the 2019 RSAs, RSUs, and PSUs granted to certain NEOs, employees, and directors is presented below (shares/units in thousands):
Grant Year |  | Award Type |  | Number of Shares/Units Awarded(1) |  | Vesting Terms
2019 |  | RSA |  | 65 |  |  | Vest equally over three service periods ending in 2020, 2021 and 2022
2019 |  | RSU |  | 55 |  |  | Vest equally over three service periods ending in 2019, 2020, and 2021
2019 |  | RSU |  | 10 |  |  | One year service period ending in 2020
2019 |  | PSU |  | 58 |  |  | Three year performance and service period ending in 2021
(1) PSUs presented are based on the target number of units for the original PSU grant.
Activity for Awards Made Outside of Share-Based Compensation Plans | Activity for our RSAs, RSUs, and PSUs is presented below (shares/units in thousands):
| PSUs |  |  |  | RSAs and RSUs |  |  |  | Total |  |
(in thousands, except grant date values) | Number of Shares/Units |  | Weighted Average Grant Date Fair Value |  | Number of Shares/Units |  | Weighted Average Grant Date Fair Value |  | Number of Shares/Units |  | Weighted Average Grant Date Fair Value
Balance as of December 31, 2016 | 110 |  |  | $ | 48.86 |  |  | 480 |  |  | $ | 36.90 |  |  | 590 |  |  | $ | 37.23 |
Granted | 65 |  |  | $ | 55.75 |  |  | 173 |  |  | $ | 52.31 |  |  | 238 |  |  | $ | 53.25 |
Performance adjustment(1) | 45 |  |  | $ | 51.00 |  |  | — |  |  | $ | — |  |  | 45 |  |  | $ | 51.00 |
Vested | (96) |  |  | $ | 51.00 |  |  | (334) |  |  | $ | 36.79 |  |  | (430) |  |  | $ | 39.98 |
Canceled/forfeited | — |  |  | $ | — |  |  | (3) |  |  | $ | 41.92 |  |  | (3) |  |  | $ | 41.92 |
Balance as of December 31, 2017 | 124 |  |  | $ | 51.59 |  |  | 316 |  |  | $ | 45.51 |  |  | 440 |  |  | $ | 47.23 |
Granted | 256 |  |  | $ | 68.32 |  |  | 193 |  |  | $ | 84.78 |  |  | 449 |  |  | $ | 75.39 |
Performance adjustment(1) | 70 |  |  | $ | 47.01 |  |  | — |  |  | $ | — |  |  | 70 |  |  | $ | 47.01 |
Vested | (129) |  |  | $ | 47.01 |  |  | (217) |  |  | $ | 46.35 |  |  | (346) |  |  | $ | 46.60 |
Canceled/forfeited | — |  |  | $ | — |  |  | (17) |  |  | $ | 54.49 |  |  | (17) |  |  | $ | 54.49 |
Balance as of December 31, 2018 | 321 |  |  | $ | 65.77 |  |  | 275 |  |  | $ | 72.03 |  |  | 596 |  |  | $ | 68.66 |
Granted | 58 |  | $ | 92.90 |  |  | 130 |  | $ | 94.42 |  |  | 188 |  | $ | 93.96 |
Performance adjustment(1) | 87 |  | $ | 55.75 |  |  | — |  |  | $ | — |  |  | 87 |  | $ | 55.75 |
Vested | (152) |  |  | $ | 55.75 |  |  | (135) |  |  | $ | 68.15 |  |  | (287) |  |  | $ | 61.57 |
Canceled/forfeited | — |  |  | $ | — |  |  | (5) |  |  | $ | 77.59 |  |  | (5) |  |  | $ | 77.59 |
Balance as of December 31, 2019 | 314 |  | $ | 72.84 |  |  | 265 |  | $ | 85.07 |  |  | 579 |  | $ | 78.45 |
(1)Adjustment to number of target units awarded for PSUs based on achievement of performance and TSR goals.
Summary of Unrecognized Stock-based Compensation Expense | A summary of total unrecognized stock-based compensation expense related to RSAs, RSUs, and PSUs (based on current performance estimates), at December 31, 2019 is presented below:
(in millions, except years) | December 31, 2019 |  | Weighted Average Remaining Vesting Period (Years)
Unrecognized expense: |  |  |
RSA | $ | 3.3 |  |  | 1.47
RSU | 7.8 |  |  | 3.38
PSU | 16.7 |  |  | 3.36
Total | $ | 27.8 |  |  | 3.14

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