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Stock Based Compensation (Tables) | 12 Months Ended
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Dec. 31, 2022
Share-Based Payment Arrangement [Abstract] |
Stock Options Activity | Stock option activity for the years ended December 31, 2022, 2021 and 2020 is summarized as follows:
| Number of Shares |  | Weighted-Average Exercise Price |  | Weighted-Average Remaining Contractual Life (In Years) |  | Aggregate Intrinsic Value
Options outstanding at January 1, 2020 | 518,341 |  |  | $ | 65.77 |  |  |  |  |
Granted | — |  |  | — |  |  |  |  |
Exercised | (42,740) |  |  | 23.11 |  |  |  |  |
Canceled | — |  |  | — |  |  |  |  |
Options outstanding at December 31, 2020 | 475,601 |  |  | $ | 69.61 |  |  |  |  |
Granted | — |  |  | — |  |  |  |  |
Exercised | (70,776) |  |  | 41.63 |  |  |  |  |
Canceled | — |  |  | — |  |  |  |  |
Adjustment due to Consensus Separation (1) | 35,749 |  |  | $ | 68.25 |  |  |  |  |
Options outstanding at December 31, 2021 | 440,574 |  |  | $ | 68.45 |  |  |  |  |
Granted | — |  |  | $ | — |  |  |  |  |
Exercised | (5,439) |  |  | $ | 27.15 |  |  |  |  |
Canceled | — |  |  | $ | — |  |  |  |  |
Options outstanding at December 31, 2022 | 435,135 |  |  | $ | 68.97 |  |  | 5.0 |  | $ | 4,407,918 |
Exercisable at December 31, 2022 | 217,567 |  |  | $ | 68.97 |  |  | 5.0 |  | $ | 2,203,954 |
Vested and expected to vest at December 31, 2022 | 396,185 |  |  | $ | 68.97 |  |  | 5.0 |  | $ | 4,013,353 |
(1)As noted above, in connection with the Consensus separation and pursuant to the anti-dilution provisions of the 2015 Plan, the number of shares underlying each stock option outstanding as of the date of the Separation was multiplied by a factor of approximately 1.09 and the related exercise price for the stock options was divided by a factor of approximately 1.09, which was intended to preserve the intrinsic value of the awards prior to the Separation.
Summarized Information Concerning Outstanding and Exercisable Options | The following table summarizes information concerning outstanding and exercisable options as of December 31, 2022:
|  | Options Outstanding |  | Exercisable Options
Exercise Price |  | Number Outstanding December 31, 2022 |  | Weighted Average Remaining Contractual Life |  | Weighted Average Exercise Price |  | Number Exercisable December 31, 2022 |  | Weighted Average Exercise Price
$ | 68.97 |  |  | 435,135 |  |  | 5.0 years |  | $ | 68.97 |  |  | 217,567 |  |  | $ | 68.97 |
Valuation Assumptions of Market-based Restricted Stock Awards Granted | The weighted-average fair values of market-based restricted stock units granted have been estimated utilizing the following assumptions:
| December 31,
| 2022 |  | 2021 |  | 2020
Underlying stock price at valuation date | $ | 99.32 |  |  | $ | 113.27 |  |  | $ | 91.17 |
Expected volatility | 36.7 | % |  | 30.3 | % |  | 27.0 | %
Risk-free interest rate | 1.8 | % |  | 1.3 | % |  | 0.7 | %
Restricted Stock and Restricted Stock Unit Award Activity | Restricted stock activity for the years ended December 31, 2022, 2021 and 2020 is set forth below:
| Shares |  | Weighted-Average Grant-Date Fair Value
Nonvested at January 1, 2020 | 1,105,059 |  |  | $ | 64.76 |
Granted | 1,268 |  |  | 98.63 |
Vested | (264,172) |  |  | 70.25 |
Canceled | (21,589) |  |  | 79.34 |
Nonvested at December 31, 2020 | 820,566 |  |  | $ | 62.66 |
Granted | — |  |  | — |
Vested | (435,529) |  |  | 60.52 |
Canceled | (33,194) |  |  | 83.23 |
Adjustment due to Consensus Separation (1) | 32,120 |  |  | 74.62 |
Nonvested at December 31, 2021 | 383,963 |  |  | $ | 62.66 |
Granted | — |  |  | — |
Vested | (67,762) |  |  | 80.64 |
Canceled | (4,920) |  |  | 84.77 |
Nonvested at December 31, 2022 | 311,281 |  |  | $ | 59.90 |
(1)As noted above, in connection with the Consensus separation and pursuant to the anti-dilution provisions of the 2015 Plan, the number of shares underlying each restricted stock award outstanding as of the date of the Separation was multiplied by a factor of approximately 1.09 and the market condition stock price target for marked-based restricted stock awards was also adjusted. Restricted stock unit activity for the years ended December 31, 2022, 2021 and 2020 is set forth below:
| Number of Shares |  | Weighted-Average Remaining Contractual Life (in Years) |  | Aggregate Intrinsic Value
Outstanding at January 1, 2020 | 20,874 |  |  |  |  |
Granted | 210,630 |  |  |  |  |
Vested | (9,029) |  |  |  |  |
Canceled | (12,691) |  |  |  |  |
Outstanding at December 31, 2020 | 209,784 |  |  |  |  |
Granted | 319,345 |  |  |  |  |
Vested | (124,761) |  |  |  |  |
Canceled | (60,201) |  |  |  |  |
Adjustment due to Consensus Separation (1) | 16,576 |  |  |  |  |
Outstanding at December 31, 2021 | 360,743 |  |  |  |  |
Granted | 254,215 |  |  |  |  |
Vested | (115,523) |  |  |  |  |
Canceled | (35,081) |  |  |  |  |
Outstanding at December 31, 2022 | 464,354 |  |  | 2.61 |  | $ | 36,730,401 |
Vested and expected to vest at December 31, 2022 | 334,674 |  |  | 2.12 |  | $ | 26,472,675 |
(1) As noted above, in connection with the Consensus separation and pursuant to the anti-dilution provisions of the 2015 Plan, the number of shares underlying each restricted stock unit outstanding as of the date of the Separation was multiplied by a factor of approximately 1.09 and the market condition stock price target for marked-based restricted stock units was also adjusted.
Valuation Assumptions of Stock Options Granted | The compensation expense related to the Purchase Plan has been estimated utilizing the following weighted average assumptions:
|  | December 31,
|  | 2022 |  | 2021 |  | 2020
Risk-free interest rate |  | 1.17% |  | 0.05% |  | 0.73%
Expected term (in years) |  | 0.5 |  | 0.5 |  | 0.5
Dividend yield |  | 0.0% |  | 0.0% |  | 0.0%
Expected volatility |  | 40.7% |  | 35.0% |  | 25.3%

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