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Equity and Cash Incentive Program (Tables)
 12 Months Ended
Dec. 31, 2016
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Stock-based incentive plans compensation expense
Stock-based compensation costs are reported within selling, general and administrative expenses. The following table summarizes the Company’s compensation expense relating to all stock-based incentive plans:
 
Years Ended December 31,
 
2016
 
2015
 
2014
Pre-tax compensation expense
$
21,015

 
$
30,697

 
$
31,628

Tax benefit
(7,399
)
 
(10,877
)
 
(11,201
)
Total stock-based compensation expense, net of tax
$
13,616

 
$
19,820

 
$
20,427
Summary of activity relating to SARs and stock options
A summary of activity relating to SARs granted under the 2012 Plan and the predecessor plans for the year ended December 31, 2016 is as follows:
 
SARs
 
Number of Shares
 
Weighted Average Exercise Price
 
Weighted Average Remaining Contractual Term (Years)
Outstanding at January 1, 2016
7,810,593

 
$
57.32

 
 
Granted
1,346,354

 
57.25

 
 
Forfeited / expired
(400,942
)
 
68.67

 
 
Exercised
(1,502,178
)
 
46.15

 
 
Outstanding at December 31, 2016
7,253,827

 
59.00

 
5.9
 
 
 
 
 
 
Exercisable at December 31, 2016
4,326,534

 
$
51.98

 
4.3
Other information for SARs and stock options
Other information regarding the exercise of SARs and stock options is listed below:
 
2016
 
2015
 
2014
SARs
 
 
 
 
 
Fair value of SARs that became exercisable
$
24,843

 
$
25,380

 
$
26,796

Aggregate intrinsic value of SARs exercised
$
34,916

 
$
14,560

 
$
51,813

 
 
 
 
 
 
Stock Options
 
 
 
 
 
Cash received by Dover for exercise of stock options
$
—

 
$
1,468

 
$
5,227

Aggregate intrinsic value of options exercised
$
—

 
$
1,649

 
$
8,614
Summary of activity for performance share awards
A summary of activity for performance share awards for the year ended December 31, 2016 is as follows:
 
Number of Shares
 
Weighted-Average
Grant-Date
Fair Value
Unvested at January 1, 2016
116,060

 
$
77.61

Granted
79,561

 
57.25

Forfeited
(28,126
)
 
70.29

Vested
(45,329
)
 
82.51

Unvested at December 31, 2016
122,166

 
$
65.29
Summary of activity for restricted stock units
A summary of activity for restricted stock units for the year ended December 31, 2016 is as follows:
 
Number of Shares
 
Weighted-Average
Grant-Date
Fair Value
Unvested at January 1, 2016
254,572

 
$
75.07

Granted
249,263

 
57.25

Forfeited
(38,391
)
 
63.96

Vested
(128,898
)
 
73.81

Unvested at December 31, 2016
336,546

 
$
64.74
Shares granted to directors

The Company issued the following shares to its non-employee directors under the 2012 Plan as partial compensation for serving as directors of the Company:
 
Years ended December 31,
 
2016
 
2015
 
2014
Aggregate shares granted
21,023

 
21,205

 
17,331

Shares deferred
(11,882
)
 
(11,196
)
 
(8,904
)
Shares withheld to satisfy tax obligations
—

 
—

 
(210
)
Net shares issued
9,141

 
10,009

 
8,217
Stock Appreciation Rights (SARs) [Member]  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Assumptions used in determining fair value of stock appreciation rights and performance shares awarded during the period
SARs

In 2016, 2015 and 2014, the Company issued SARs covering 1,346,354, 1,144,529 and 1,043,734 shares, respectively. Since 2006, the Company has only issued SARs and does not anticipate issuing stock options in the future. The fair value of each SAR grant was estimated on the date of grant using a Black-Scholes option-pricing model with the following assumptions:
 
2016
 
2015
 
2014
 
Risk-free interest rate
1.05
%
 
1.51
%
 
1.70
%
 
Dividend yield
3.09
%
 
2.24
%
 
1.98
%
 
Expected life (years)
4.6

 
5.1

 
5.3

 
Volatility
26.17
%
 
27.19
%
 
30.81
%
 
Grant price
$
57.25

 
$
73.28

 
$
82.51

 
Fair value at date of grant
$
9.25

 
$
14.55

 
$
19.84

(1) 

(1)
Updated to reflect the modification of grants issued prior to 2014 in connection with the separation of Knowles
Awards outstanding, vested and exercisable
The following table summarizes information about outstanding SARs at December 31, 2016: 
 
 
SARs Outstanding

SARs Exercisable
Range of Exercise Prices
 
Number of Shares

Weighted Average
Exercise Price

Weighted Average
Remaining Life
in Years
 
Aggregate Intrinsic Value

Number of Shares

Weighted Average
Exercise Price

Weighted Average
Remaining Life
in Years
 
Aggregate Intrinsic Value
$25.96 - $37.79
 
1,319,998

 
$
33.99

 
2.6
 
$
54,043


1,319,998

 
$
33.99

 
2.6
 
$
54,043

$40.54 - $58.69
 
3,084,531

 
$
57.67

 
6.3
 
53,247


1,879,310

 
$
57.94

 
4.7
 
31,698

$63.33 - $82.51
 
2,849,298

 
$
72.02

 
7.1
 
14,383


1,127,226

 
$
63.36

 
6.1
 
12,836

 
 
7,253,827

 
 
 
 
 
$
121,673

 
4,326,534

 
 
 
 
 
$
98,577
Performance Shares [Member]  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Assumptions used in determining fair value of stock appreciation rights and performance shares awarded during the period
A summary of activity for performance share awards for the year ended December 31, 2016 is as follows:
 
Number of Shares
 
Weighted-Average
Grant-Date
Fair Value
Unvested at January 1, 2016
116,060

 
$
77.61

Granted
79,561

 
57.25

Forfeited
(28,126
)
 
70.29

Vested
(45,329
)
 
82.51

Unvested at December 31, 2016
122,166

 
$
65.29

The fair value and average attainment used in determining compensation cost of the performance shares issued in 2016, 2015 and 2014 are as follows for the year ended December 31, 2016:
 
Performance shares
 
2016
 
2015
 
2014
Fair value per share at date of grant
$
57.25

 
$
73.28

 
$
82.51

Average attainment rate reflected in expense
1.20
%
 
0
%
 
11.55
%