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Stock-Based Compensation Plans (Tables) | 12 Months Ended
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Dec. 31, 2021
Share-based Payment Arrangement [Abstract] |
Schedule of Share-based Compensation Activity | A summary of the 2021 RSUs, and PSUs granted to certain NEOs, employees, and the Board of Directors is presented below (shares/units in thousands):
Grant Year |  | Award Type |  | Number of Units Awarded(1) |  | Vesting Terms
2021 |  | RSU |  | 63 |  | Vest equally over three service periods ending in 2024
2021 |  | PSU |  | 27 |  | Three-year performance and service period ending in 2023
2021 |  | RSU |  | 5 |  | One year service period ending in 2022
(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, 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 |
Granted | 37 |  |  | $ | 182.45 |  |  | 94 |  |  | $ | 150.12 |  |  | 131 |  |  | $ | 159.30 |
Performance adjustment(1) | 41 |  |  | $ | 90.73 |  |  | — |  |  | $ | — |  |  | 41 |  |  | $ | 90.73 |
Vested | (90) |  |  | $ | 90.73 |  |  | (121) |  |  | $ | 90.01 |  |  | (211) |  |  | $ | 90.32 |
Canceled/forfeited | — |  |  | $ | — |  |  | (3) |  |  | $ | 121.39 |  |  | (3) |  |  | $ | 121.39 |
Balance as of December 31, 2020 | 302 |  |  | $ | 83.40 |  |  | 235 |  |  | $ | 107.90 |  |  | 537 |  |  | $ | 94.14 |
Granted | 27 |  | $ | 254.29 |  |  | 68 |  | $ | 211.11 |  |  | 95 |  | $ | 223.25 |
Performance adjustment(1) | 258 |  | $ | 68.87 |  |  | — |  |  | $ | — |  |  | 258 |  | $ | 68.87 |
Vested | (108) |  |  | $ | 92.90 |  |  | (112) |  |  | $ | 121.77 |  |  | (220) |  |  | $ | 107.63 |
Canceled/forfeited | — |  |  | $ | — |  |  | (12) |  |  | $ | 160.42 |  |  | (12) |  |  | $ | 160.42 |
Balance as of December 31, 2021 | 479 |  | $ | 82.99 |  |  | 179 |  | $ | 135.01 |  |  | 658 |  | $ | 90.27 |
(1)Adjustment to number of target units awarded for PSUs based on achievement of underlying performance 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, 2021 is presented below:
(in millions, except years) | December 31, 2021 |  | Weighted Average Remaining Vesting Period (Years)
Unrecognized expense: |  |  |
RSU | $ | 9.2 |  |  | 1.76
PSU | 12.9 |  |  | 2.08
Total | $ | 22.1 |  |  | 1.94

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