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Stock-Based Compensation Programs (Tables)
12 Months Ended
Dec. 31, 2022
Stock-Based Compensation Programs  
Summary of stock option activity

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​

​

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​

​

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Number of

​

Weighted Average

​

    

Shares

    

Exercise Price

Beginning of year

​

9,766,096

​

$

46.66

Granted

​

1,160,180

​

​

86.31

Exercised

​

(1,186,020)

​

​

32.58

Canceled/forfeited

​

(388,372)

​

​

77.72

End of period

​

9,351,884

​

​

52.07

​

​

​

​

​

​

Vested and exercisable, end of year

​

6,656,599

​

$

41.21

Reserved for future grants

​

12,933,109

​

​

​

​

Schedule of weighted average assumptions used for estimating fair values of options

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2022 Grants

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2021 Grants

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2020 Grants

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​

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Expected dividend yield

​

0.92

%  

0.70

%  

0.83

%  

Expected stock price volatility

​

25.56

%  

25.08

%  

20.84

%  

Risk-free interest rate

​

1.77

%  

0.61

%  

1.47

%  

Expected life of options (in years)

​

6.10

years  

6.25

years  

6.40

years  

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Summary of restricted stock activity

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​

​

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​

​

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​

​

Weighted

​

​

Number of

​

Average

​

    

Shares/Units

    

Grant Price

​

​

​

​

​

​

Beginning of year

​

1,246,404

​

$

56.64

Granted

​

420,731

​

​

75.82

Vested

​

(412,367)

​

​

53.62

Canceled/forfeited

​

(50,266)

​

​

79.55

End of year

​

1,204,502

​

$

63.06

​