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Stock Plans (Tables) | 12 Months Ended
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Dec. 31, 2021
Disclosure of Compensation Related Costs, Share-based Payments [Abstract] |
Schedule of stock options activity |
|  | Number of Shares |  | Weighted Average Exercise Price |  | Weighted Average Remaining Contractual Term (years) |  | Aggregate Intrinsic Value (thousands)
Balance at December 31, 2020 (1,497,567 shares exercisable) |  | 4,091,293 |  |  | $ | 94.88 |  |  |  |  |
Granted |  | 532,979 |  |  | $ | 116.55 |  |  |  |  |
Exercised |  | (296,363 | ) |  | $ | 26.41 |  |  |  |  |
Forfeited/Canceled |  | (17,831 | ) |  | $ | 119.80 |  |  |  |  |
Expired |  | (877 | ) |  | $ | 16.39 |  |  |  |  |
Balance at December 31, 2021 |  | 4,309,201 |  |  | $ | 102.19 |  |  | 7.2 |  | $ | 97,425 |
Exercisable at December 31, 2021 |  | 1,466,983 |  |  | $ | 78.19 |  |  | 4.5 |  | $ | 65,770 |
Vested and expected to vest at December 31, 2021 |  | 1,963,940 |  |  | $ | 90.29 |  |  | 5.5 |  | $ | 68,162 |
Schedule of the fair value using the Black-Scholes-Merton option-pricing model |
|  | Year ended December 31,
|  | 2021 |  | 2020 |  | 2019
Volatility |  | 39.3 | % |  | 35.6 | % |  | 29.3 | %
Risk-free interest rate - weighted average |  | 1.2 | % |  | 0.6 | % |  | 2.1 | %
Risk-free interest rate - range |  | 0.5% to 1.21 | % |  | 0.31% to 1.17 | % |  | (a) |
Dividend yield |  | — | % |  | — | % |  | — | %
Assumed forfeitures |  | 8.0 | % |  | 8.0 | % |  | 8.0 | %
Expected lives |  | 4.6 years |  |  | 7.1 years |  |  | 5.2 years |
Weighted-average fair value (per share) |  | $ | 39.99 |  |  | $ | 48.21 |  |  | $ | 43.96 |
(a) At the date of grant, the risk fee rate for stock options awarded in 2019 was 1.7%.
Schedule of restricted stock activity |
|  | Number of Shares |  | Weighted Average Grant Date Fair Value Per Share
Nonvested at December 31, 2020 |  | 485,510 |  |  | $ | 126.62 |
Granted |  | 191,184 |  |  | $ | 117.35 |
Vested |  | (107,700 | ) |  | $ | 115.85 |
Forfeited |  | (33,890 | ) |  | $ | 98.18 |
Nonvested at December 31, 2021 |  | 535,104 |  |  | $ | 127.96 |

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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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