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Stock Based Compensation (Tables)
 3 Months Ended
Mar. 31, 2022
Share-based Payment Arrangement [Abstract]  
Market-Based Restricted Stock Awards, Valuation Assumptions
The weighted-average fair values of market-based restricted stock awards granted have been estimated utilizing the following assumptions:
March 31, 2022March 31, 2021
Underlying stock price at valuation date$99.32 $113.27 
Expected volatility36.7 %30.3 %
Risk-free interest rate1.8 %1.3 %
Restricted Stock and Restricted Stock Unit Award Activity
Restricted stock award activity for the three months ended March 31, 2022 is set forth below:
SharesWeighted-Average
Grant-Date
Fair Value
Nonvested at January 1, 2022383,963 $41.45 
Granted— — 
Vested(38,875)77.75 
Canceled(777)88.54 
Nonvested at March 31, 2022344,311 $38.38 
  
Restricted stock unit activity for the three months ended March 31, 2022 is set forth below:
Number of
Shares		Weighted-Average
Remaining
Contractual
Term (in years)		Aggregate
Intrinsic
Value
Outstanding at January 1, 2022360,743 
Granted212,517 
Vested(62,509)
Canceled(7,557)
Outstanding at a March 31, 2022503,194 3.1$48,776,539 
Vested and expected to vest at March 31, 2022503,194 3.1$48,699,115