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Equity and Cash Incentive Program (Tables)
 12 Months Ended
Dec. 31, 2017
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 in the Consolidated Statements of Earnings. The following table summarizes the Company’s compensation expense relating to all stock-based incentive plans:
 
Years Ended December 31,
 
2017
 
2016
 
2015
Pre-tax compensation expense
$
26,528

 
$
21,015

 
$
30,697

Tax benefit
(9,261
)
 
(7,399
)
 
(10,877
)
Total stock-based compensation expense, net of tax
$
17,267

 
$
13,616

 
$
19,820
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, 2017 is as follows:
 
SARs
 
Number of Shares
 
Weighted Average Exercise Price
 
Weighted Average Remaining Contractual Term (Years)
Outstanding at January 1, 2017
7,253,827

 
$
59.00

 
 
Granted
1,028,116

 
79.28

 
 
Forfeited / expired
(240,859
)
 
69.36

 
 
Exercised
(1,467,105
)
 
54.54

 
 
Outstanding at December 31, 2017
6,573,979

 
62.78

 
5.8
 
 
 
 
 
 
Exercisable at December 31, 2017
3,640,841

 
$
57.65

 
4.0
Other information for SARs and stock options
Other information regarding the exercise of SARs and stock options is listed below:
 
2017
 
2016
 
2015
SARs
 
 
 
 
 
Fair value of SARs that became exercisable
$
16,006

 
$
24,843

 
$
25,380

Aggregate intrinsic value of SARs exercised
$
44,646

 
$
34,916

 
$
14,560

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

 
$
—

 
$
1,468

Aggregate intrinsic value of options exercised
$
—

 
$
—

 
$
1,649
Summary of activity for performance share awards
A summary of activity for performance share awards for the year ended December 31, 2017 is as follows:
 
Number of Shares
 
Weighted Average
Grant-Date
Fair Value
Unvested at January 1, 2017
122,166

 
$
65.29

Granted
57,958

 
79.28

Forfeited
(6,123
)
 
69.41

Vested
(49,534
)
 
73.28

Unvested at December 31, 2017
124,467

 
$
65.80
Summary of activity for restricted stock units
A summary of activity for restricted stock units for the year ended December 31, 2017 is as follows:
 
Number of Shares
 
Weighted Average
Grant-Date
Fair Value
Unvested at January 1, 2017
336,546

 
$
64.74

Granted
174,203

 
79.28

Forfeited
(27,590
)
 
71.16

Vested
(149,273
)
 
69.01

Unvested at December 31, 2017
333,886

 
$
70.06
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,
 
2017
 
2016
 
2015
Aggregate shares granted
16,231

 
21,023

 
21,205

Shares deferred
(11,337
)
 
(11,882
)
 
(11,196
)
Net shares issued
4,894

 
9,141

 
10,009
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 2017, 2016 and 2015, the Company issued SARs covering 1,028,116, 1,346,354 and 1,144,529 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:
 
2017
 
2016
 
2015
Risk-free interest rate
1.80
%
 
1.05
%
 
1.51
%
Dividend yield
2.27
%
 
3.09
%
 
2.24
%
Expected life (years)
4.6

 
4.6

 
5.1

Volatility
21.90
%
 
26.17
%
 
27.19
%
Grant price
$
79.28

 
$
57.25

 
$
73.28

Fair value at date of grant
$
12.63

 
$
9.25

 
$
14.55
Awards outstanding, vested and exercisable
The following table summarizes information about outstanding SARs at December 31, 2017: 
 
 
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
 
927,723

 
$
33.98

 
1.8
 
$
62,170


929,840

 
$
33.98

 
1.8
 
$
62,170

$40.54 - $58.69
 
2,301,826

 
$
57.67

 
5.8
 
99,723


1,188,436

 
$
58.06

 
3.7
 
50,903

$63.33 - $82.51
 
3,344,430

 
$
74.30

 
7.0
 
89,274


1,522,565

 
$
71.77

 
5.6
 
44,446

 
 
6,573,979

 
 
 
 
 
$
251,167

 
3,640,841

 
 
 
 
 
$
157,519
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
The fair value and average attainment used in determining compensation cost of the performance shares issued in 2017, 2016 and 2015 are as follows for the year ended December 31, 2017:
 
Performance shares
 
2017
 
2016
 
2015
Fair value per share at date of grant
$
79.28

 
$
57.25

 
$
73.28

Average attainment rate reflected in expense
147.81
%
 
20.99
%
 
3.33
%