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Stock Plans (Tables) | 12 Months Ended
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Dec. 31, 2023
Stock Plans |
Schedule of stock options activity |
|  | Number of Shares |  | Weighted Average Exercise Price |  | Weighted Average Remaining Contractual Term (years) |  | Aggregate Intrinsic Value (millions)
Balance at December 31, 2022 (1,466,983 shares exercisable) |  | 4,703,405 |  |  | $ | 103.51 |  |  |  |  |
Granted |  | 595,777 |  |  | $ | 91.66 |  |  |  |  |
Exercised |  | (152,209 | ) |  | $ | 90.92 |  |  |  |  |
Forfeited/Canceled |  | (27,981 | ) |  | $ | 116.58 |  |  |  |  |
Expired |  | — |  |  | $ | — |  |  |  |  |
Balance at December 31, 2023 |  | 5,118,992 |  |  | $ | 103.66 |  |  | 6.6 |  | $ | 39.5 |
Exercisable at December 31, 2023 |  | 2,211,566 |  |  | $ | 103.03 |  |  | 4.9 |  | $ | 24.6 |
Vested and expected to vest at December 31, 2023 |  | 4,170,033 |  |  | $ | 99.90 |  |  | 6.4 |  | $ | 33.6 |
Schedule of the fair value using the Black-Scholes-Merton option-pricing model or Monte Carlo simulation model |
|  | Year ended December 31,
|  | 2023 |  | 2022 |  | 2021
Volatility |  | 42.5 | % |  | 42.4 | % |  | 39.3 | %
Risk-free interest rate - weighted average |  | 4.23 | % |  | 3.97 | % |  | 1.2 | %
Risk-free interest rate - range |  | 4.23 | % |  | 3.97% to 3.45 | % |  | 0.50% to 1.21 | %
Dividend yield |  | — | % |  | — | % |  | — | %
Assumed forfeitures |  | 8.0 | % |  | 8.0 | % |  | 8.0 | %
Expected lives |  | 5.0 years |  |  | 4.6 years |  |  | 4.6 years |
Weighted-average fair value (per option) |  | $ | 39.43 |  |  | $ | 37.15 |  |  | $ | 39.99 |
Schedule of restricted stock activity |
|  | Number of Shares |  | Weighted Average Grant Date Fair Value Per Share
Nonvested at December 31, 2022 |  | 676,435 |  |  | $ | 115.36 |
Granted |  | 267,678 |  |  | $ | 92.76 |
Vested |  | (146,716 | ) |  | $ | 123.78 |
Forfeited |  | (30,695 | ) |  | $ | 145.87 |
Nonvested at December 31, 2023 |  | 766,702 |  |  | $ | 104.65 |

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