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Stock-Based Compensation (Tables)
 12 Months Ended
Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Stock Option Activity
The following summarizes stock option activity: 
 
Option Shares
 
Weighted Average Exercise Price
(in millions, except per share data)
2019
 
2018
 
2017
 
2019
 
2018
 
2017
Outstanding, at beginning of year
2.4

 
2.3

 
2.6

 
$
12.51

 
$
11.08

 
$
10.71

Granted
0.2

 
0.3

 
0.5

 
27.29

 
23.14

 
15.30

Exercised
(0.3
)
 
(0.2
)
 
(0.3
)
 
13.12

 
9.49

 
10.53

Canceled or expired
—

 
—

 
(0.5
)
 
21.99

 
18.03

 
14.10

Outstanding, at end of year
2.3

 
2.4

 
2.3

 
$
13.87

 
$
12.51

 
$
11.08

Exercisable, at end of year
1.9

 
1.8

 
1.6

 
$
11.28

 
$
10.59

 
$
9.57
Summary of Information Concerning Stock Options Outstanding
The following table summarizes information for stock options outstanding as of December 31, 2019 under all plans:
 
Options Outstanding
 
Options Exercisable
Range of Exercise Prices
Shares
 
Weighted Average
Remaining Life
 
Weighted Average
Exercise Price
 
Shares
 
Weighted Average
Exercise Price
 
(in millions)
 
(in years)
 
 
 
(in millions)
 
 
$5.01 — $10.00
0.8

 
2.3
 
$
6.55

 
0.8

 
$
6.55

10.01 — 15.00
0.7

 
5.8
 
13.16

 
0.7

 
13.16

15.01 — 20.00
0.4

 
6.2
 
16.52

 
0.3

 
16.41

20.01 — 25.00
0.2

 
8.4
 
23.14

 
0.1

 
23.14

25.01 — 30.00
0.2

 
9.3
 
27.29

 
—

 
—

 
2.3

 
5.3
 
$
13.87

 
1.9

 
$
11.28
Summary of Restricted Stock Grants
The following table summarizes restricted stock activity for the year ended December 31, 2019:
 
Number of
Restricted Shares
 
Weighted Average
Price per Share
 
(in millions)
 
 
Outstanding and non-vested, at December 31, 2018
0.2

 
$
18.12

Granted
0.1

 
27.51

Vested
(0.1
)
 
14.72

Forfeited
—

 
18.96

Outstanding and non-vested, at December 31, 2019
0.2

 
$
22.53
Equity Option  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Assumptions Used to Calculate Fair Value
The fair value of each option grant was estimated using the Black-Scholes option pricing model with the following weighted average assumptions:
 
2019
 
2018
 
2017
Dividend yield
1.2
%
 
1.4
%
 
1.7
%
Expected volatility
32
%
 
32
%
 
45
%
Risk free interest rate
2.4
%
 
2.9
%
 
2.2
%
Weighted average expected option life in years
6.3

 
5.9

 
7.5
PSUs  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Schedule of Share-based Compensation, Activity
The following table summarizes PSU activity for the year ended December 31, 2019:
 
Number of PSUs
 
Weighted Average Price per Share
 
(in millions)
 
 
Outstanding and non-vested, at December 31, 2018
0.3

 
$
20.13

Granted (a)
0.2

 
22.23

Vested
(0.2
)
 
17.04

Forfeited
—

 
17.85

Outstanding and non-vested, at December 31, 2019
0.3

 
$
24.37


(a)
Includes 0.1 million PSUs, representing the effect of the PSUs granted in 2017 being earned at 200% of target. The PSUs granted in 2017 vested on December 31, 2019.