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Stock-Based Compensation (Tables)
 12 Months Ended
Dec. 31, 2023
Share-Based Payment Arrangement [Abstract]  
Restricted Stock Unit Activity
The following table summarizes information about vested and nonvested RSUs for 2023:
 RSUs
 SharesWeighted-Average
Grant Date
Fair Value
Nonvested at January 11.2 $75.14 
Granted 0.4 $139.11 
Vested(0.5)$60.40 
Forfeited(0.1)$112.36 
Nonvested at December 311.0 $108.26 
Stock-Based Compensation Expense and related Tax Benefit Recognized
The following table summarizes the total stock-based compensation expense related to RSUs recognized in Selling, General, and Administrative Expenses in the Consolidated Statements of Income and the total recognized tax benefit related thereto:
202320222021
Stock-based compensation expense
$39.7 $31.5 $35.0 
Tax benefit related to stock-based compensation expense$4.5 $4.0 $2.4 
Weighted Average Grant-Date Fair Value of Restricted Stock Units Granted and Total Fair Value of Restricted Stock Units Vested
The weighted average grant-date fair value of RSUs and total fair value of RSUs vested are summarized in the following table:
202320222021
Weighted average grant-date fair value of RSUs granted
$139.11 $112.66 $85.45 
Total fair value of RSUs vested (in millions)
$76.0 $85.7 $51.8