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Stock-Based Compensation
6 Months Ended
Jun. 30, 2020
Share-based Payment Arrangement, Noncash Expense [Abstract]  
Stock-Based Compensation Stock-Based Compensation
A summary of restricted and deferred stock transactions during the six months ended June 30, 2020 is as follows:

 Number of shares
Non-vested stock awards outstanding at January 1, 20202,102,654  
Awarded:
Time-vesting shares275,173  
Performance-based shares166,018  
Released:
Time-vesting shares(140,987) 
Performance-based shares(181,705) 
Forfeitures:
       Time-vesting shares(56,566) 
Performance-based shares(7,651) 
Non-vested stock awards outstanding at June 30, 20202,156,936  

The performance-based share awards are subject to either a market condition or a performance condition. For awards subject to a market condition, the performance metric is the Company's total shareholder return, which includes share price appreciation and dividends paid during the three-year term of the award, measured against a peer group of companies. These awards cliff vest at the end of three years. The number of performance-based shares that will ultimately vest is based on the level of market performance achieved, ranging between 0% and 200% of the shares originally awarded, and are settled in stock.

For awards subject to a performance condition, the performance metric is the Company's average return on invested capital over the three-year term. These awards cliff vest at the end of three years. The number of performance-based shares that will ultimately vest is based on the level of performance achieved, ranging between 0% and 200% of the shares originally awarded, and are settled in stock.
The time-vesting restricted and deferred stock awards vest ratably over three to five years.

The weighted average grant-date fair values of awards issued during the six months ended June 30, 2020 were $69.71 for the time-vesting stock awards and $72.08 for the performance-based stock awards.

The fair value of the performance-based shares subject to a market condition awarded in 2020 was calculated using a Monte Carlo valuation model, including a weighted average stock price volatility of 22.0%, an expected term of three years, and a weighted average risk-free interest rate of 1.60%.
As of June 30, 2020, unrecognized compensation cost related to outstanding non-vested stock awards was $74. The weighted average period over which the expense is expected to be recognized is 2.9 years. The aggregate market value of the shares released on the vesting dates was $22 for the six months ended June 30, 2020.