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Equity Incentive Program (Notes)
6 Months Ended
Jun. 30, 2020
Share-based Payment Arrangement, Noncash Expense [Abstract]  
Equity Incentive Program
Stock-based compensation expense recognized in the Consolidated Statements of Earnings totaled $4.1 million and $7.3 million for the three months ended June 30, 2020 and 2019, respectively. For the six months ended June 30, 2020 and 2019, stock-based compensation expense was $7.6 million and $14.0 million, respectively.

Stock Options and SSARs

The expense related to stock options granted in the six months ended June 30, 2020 and 2019 was estimated on the date of grant using a Black-Scholes option-pricing model based on the assumptions shown in the table below:
 Six Months Ended June 30,
 20202019
Risk-free interest rate0.16%to1.42%2.29%to2.44%
Dividend yield—%—%
Expected life (years)4.3to4.54.5
Volatility38.8%to40.6%41.8%to42.9%
Fair value at date of grant$4.78to$5.95$6.22to$6.55

The following table summarizes the Company's stock-settled stock appreciation right ("SSAR") and stock option activity for the six months ended June 30, 2020 (in millions, except share and per share amounts):
 SSARsStock Options
 Number of SharesWeighted-Average Exercise PriceAggregate Intrinsic ValueWeighted-Average Remaining Contractual Term (Years)Number of SharesWeighted-Average Exercise PriceAggregate Intrinsic ValueWeighted-Average Remaining Contractual Term (Years)
Outstanding at December 31, 2019596,537  $22.72  5,377,148  $17.51  
Granted—  —  888,891  16.76  
Exercised—  —  (123,574) 12.43  
Forfeited—  —  (139,969) 16.59  
Expired—  —  (100,791) 19.73  
Outstanding at June 30, 2020596,537  $22.72  $—  1.95,901,705  $17.48  $6.0  3.4
Exercisable at June 30, 2020596,537  $22.72  $—  1.94,335,643  $17.92  $5.8  2.5

There was no unrecognized compensation expense related to SSARs at June 30, 2020. At June 30, 2020, unrecognized compensation expense related to stock options not yet exercisable of $6.6 million is expected to be recognized over a weighted-average period of 2.0 years.
RSUs

The following table summarizes the Company's restricted stock unit ("RSU") activity for the six months ended June 30, 2020:
 Share unitsWeighted-average grant date fair value
Unvested at December 31, 20192,261,114  $15.99  
Granted1,406,939  16.52  
Vested (1)
(1,016,274) 16.26  
Forfeited(635,437) 16.24  
Unvested at June 30, 20202,016,342  $16.19  
(1) The number of RSUs vested includes shares that the Company withheld on behalf of employees to satisfy statutory tax withholding requirements.

At June 30, 2020, $23.9 million of unrecognized compensation expense related to RSUs is expected to be recognized over a weighted-average period of 1.9 years.

PSUs

The Company grants performance stock units ("PSUs") to senior management. In each case, the awards will cliff vest three years following the grant date. For the awards granted in February 2018 and 2017, the number of PSUs that may be earned and vest is based on the Company's revenues and stock price performance over a three year performance period. For the awards granted in February 2019, the number of PSUs that may be earned and vest is based on the Company's revenues and total shareholder return relative to the S&P Semiconductor Select Industry Index over a three year performance period. For the awards granted in February 2020, the number of PSUs that may be earned and vest is based on total shareholder return relative to the S&P Semiconductor Select Industry Index over a three year performance period.

PSUs will be settled in shares of the Company's common stock. Depending on the Company's overall performance relative to the applicable performance metrics, the size of the PSU awards are subject to adjustment, up or down, resulting in awards at the end of the performance period that can range from 0% to 225% of the initial grant value. In February 2020, the awards granted in February 2017 were converted from 176,154 PSUs to 88,959 shares of stock based on achievement of performance metrics. The Company will ratably recognize the expense over the applicable service period for each grant of PSUs and adjust the expense as appropriate. The fair value of the PSUs is determined by using a Monte Carlo simulation.

The following table summarizes the Company's PSU activity for the six months ended June 30, 2020:
 Share unitsWeighted-average grant date fair value
Unvested at December 31, 2019844,789  $15.90  
Granted322,178  16.14  
Vested (1)
(176,154) 15.38  
Forfeited(61,589) 17.05  
Unvested at June 30, 2020929,224  $16.01  
(1) The number of PSUs vested includes shares that the Company withheld on behalf of employees to satisfy statutory tax withholding requirements.

At June 30, 2020, $3.7 million of unrecognized compensation expense related to PSUs is expected to be recognized over a weighted-average period of 1.6 years.