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Stock-Based Compensation (Tables)
 6 Months Ended
Jun. 30, 2021
Share-based Payment Arrangement [Abstract]  
Stock Option Activity The following table summarizes the Company’s stock option activity and related information for the 2011 Plan, the 2000 Plan and the Directors Plan for the six months ended June 30, 2021:
OptionsWeighted
Average
Exercise
Price		Weighted
Average
Remaining
Contractual Life		Aggregate
Intrinsic value
(in millions)
Outstanding at December 31, 2020552,669 $69.82 6.1$4.2 
Granted126,794 $81.21 
Exercised(33,680)$52.43 
Canceled(21,349)$75.01 
Outstanding at June 30, 2021624,434 $72.62 6.5$6.2 
Exercisable at June 30, 2021379,897 $58.63 5.8$5.3 
Share-Based Fair Value of Each Option Grant Weighted-Average Assumptions The fair value of each option grant is estimated on the date of grant using the Black-Scholes option pricing model with the following weighted-average assumptions:
Six Months Ended June 30, 2021
Dividend yield0.60 %
Risk-free interest rate0.81 %
Stock price volatility36.1 %
Expected life (years)5.0
Restricted Stock Activity and Incentive Stock Awards Activity The following table summarizes the restricted stock activity and incentive stock units activity for the six months ended June 30, 2021:
Restricted
Stock
and Units		Incentive
Stock
Units		Weighted
Average Grant
Date Fair
Value
Outstanding at December 31, 2020656,006 270,645 $73.80 
Granted201,126 241,467 $81.10 
Vested(297,461)(37,672)$71.55 
Adjustment for incentive stock awards expected to vest— 119,657 $74.39 
Canceled(22,187)(23,723)$74.91 
Outstanding at June 30, 2021537,484 570,374 $77.41