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Stock-Based Compensation Programs (Tables)
12 Months Ended
Dec. 31, 2019
Stock-Based Compensation Programs  
Summary of stock option activity

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​

​

​

​

​

​

​

​

​

​

​

Number of

​

Weighted Average

​

    

Shares

    

Exercise Price

Beginning of year

​

15,175,811

​

$

27.45

Granted

​

1,624,395

​

​

51.42

Exercised

​

(4,173,273)

​

​

21.19

Canceled/forfeited

​

(241,473)

​

​

42.13

End of period

​

12,385,460

​

​

32.41

​

​

​

​

​

​

Vested and exercisable, end of year

​

7,957,900

​

$

26.82

Reserved for future grants

​

19,641,712

​

​

​

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

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​

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​

​

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2019 Grants

​

2018 Grants

​

2017 Grants

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​

​

​

​

​

​

​

​

Expected dividend yield

​

0.79

%  

1.03

%  

0.89

%  

Expected stock price volatility

​

20.36

%  

21.98

%  

19.62

%  

Risk-free interest rate

​

2.59

%  

2.47

%  

2.00

%  

Expected life of options (in years)

​

6.40

years  

6.10

years  

5.94

years  

Summary of restricted stock activity

​

​

​

​

​

​

​

​

​

​

​

Weighted

​

​

Number of

​

Average

​

    

Shares/Units

    

Grant Price

​

​

​

​

​

​

Beginning of year

​

2,875,294

​

$

34.17

Granted

​

543,384

​

​

45.88

Vested

​

(871,225)

​

​

30.83

Canceled/forfeited

​

(108,717)

​

​

39.68

End of year

​

2,438,736

​

$

37.73