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Shareholders' Equity (Tables) | 12 Months Ended
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Dec. 31, 2023
Stock Options and Stock Appreciation Rights (SARs) |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |
Valuation Assumptions | The following table illustrates the assumptions used in estimating fair value in the years ended December 31, 2023, 2022 and 2021:
| 2023 |  | 2022 |  | 2021
Grant date fair value of stock options and SARs | $ | 40.18 |  |  | $ | 49.88 |  |  | $ | 42.47 |
Expected stock price volatility | 41.84 | % |  | 38.45 | % |  | 39.27 | %
Risk-free interest rate | 4.14 | % |  | 1.68 | % |  | 0.81 | %
Expected annual dividend yield | 0.82 | % |  | 0.56 | % |  | 0.64 | %
Expected life of options & SARs (years) | 5.4 |  | 5.4 |  | 5.5
Schedule of Stock Option and SAR Activity | The following table illustrates the stock option and SAR activity for the year ended December 31, 2023:
| Number of Shares (in 000’s) |  | Weighted- Average Exercise Price
Outstanding at December 31, 2022 | 3,701 |  |  | $ | 92.98 |
Granted | 564 |  |  | $ | 97.77 |
Forfeited | (241) |  |  | $ | 118.06 |
Exercised | (260) |  |  | $ | 67.30 |
Outstanding at December 31, 2023 | 3,764 |  |  | $ | 93.82 |
Exercisable at December 31, 2023 | 2,097 |  |  | $ | 77.53 |
Stock options & SARs expected to vest | 1,667 |  |  | $ | 114.32 |
Restricted Stock Units (RSUs) and Performance Share Units (PSUs) |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |
Schedule of PSU and RSU Activity | The following table illustrates the RSU and PSU activity for the year ended December 31, 2023:
| Number of Shares (in 000’s) |  | Weighted- Average Grant-Date Fair Value
Outstanding at December 31, 2022 | 46 |  |  | $ | 117.91 |
Granted | 53 |  |  | $ | 127.59 |
Vested | (22) |  |  | $ | 108.69 |
Forfeited | (10) |  |  | $ | 113.87 |
Outstanding at December 31, 2023 | 67 |  |  | $ | 129.32 |

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- Definition Tabular disclosure of the number and weighted-average exercise prices (or conversion ratios) for stock options and stock appreciation rights that were outstanding at the beginning and end of the year, exercisable at the end of the year, and the number of stock options and stock appreciation rights that were granted, exercised or converted, forfeited, and expired during the year. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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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 -Topic 718 -SubTopic 10 -Subparagraph (f)(2) -Name Accounting Standards Codification -Paragraph 2 -Section 50 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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