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Equity Incentive Program (Tables)
 6 Months Ended
Jun. 30, 2022
Share-based Payment Arrangement, Noncash Expense [Abstract]  
Schedule of Black-Scholes Option-Pricing Assumptions
The expense related to stock options granted in the six months ended June 30, 2022 and 2021 was estimated on the date of grant using a Black-Scholes option-pricing model based on the assumptions shown in the table below:
 Six Months Ended June 30,
 20222021
Risk-free interest rate0.85%0.06%
Dividend yield—%—%
Expected life (years)4.54.5
Volatility34.3%36.0%
Fair value at date of grant$6.29$6.14to$6.31
Schedule of SSAR and Stock Options Activity The following table summarizes the Company's stock-settled stock appreciation right ("SSAR") and stock option activity for the six months ended June 30, 2022:
SSARsStock Options
 Number of SharesWeighted-Average Exercise PriceAggregate Intrinsic ValueWeighted-Average Remaining Contractual Term (Years)Number of SharesWeighted-Average Exercise PriceAggregate Intrinsic ValueWeighted-Average Remaining Contractual Term (Years)
(in millions, except share and per share amounts)
Outstanding at December 31, 2021375,964 $23.16 3,478,438 $15.04 
Granted— — 216,813 21.14 
Exercised(36,759)21.77 (499,527)12.12 
Forfeited— — (16,278)20.80 
Expired(95,573)21.77 — — 
Outstanding at June 30, 2022243,632 $23.92 $— 0.63,179,446 $15.89 $6.8 3.1
Exercisable at June 30, 2022243,632 $23.92 $— 0.62,616,639 $15.16 $6.6 2.6
Schedule of Restricted Stock Units Award Activity
The following table summarizes the Company's restricted stock unit ("RSU") activity for the six months ended June 30, 2022:
 Share unitsWeighted-average grant date fair value
Unvested at December 31, 20211,778,639 $18.89 
Granted1,119,538 20.85 
Vested (1)
(795,101)18.17 
Forfeited(132,386)19.93 
Unvested at June 30, 20221,970,690 $20.18 
(1) The number of RSUs vested includes shares that the Company withheld on behalf of employees to satisfy statutory tax withholding requirements.
Share-based Payment Arrangement, Performance Shares, Outstanding Activity
The following table summarizes the Company's PSU activity for the six months ended June 30, 2022:
 Share unitsWeighted-average grant date fair value
Unvested at December 31, 2021766,466 $21.28 
Granted294,935 29.92 
Vested (1)
(227,812)18.44 
Forfeited— — 
Unvested at June 30, 2022833,589 $25.12 
(1) The number of PSUs vested includes shares that the Company withheld on behalf of employees to satisfy statutory tax withholding requirements.