Rules vs reality?
Expect to pay the $100 fee; notice that it's $100 each way. It's uncommon to avoid it. Changing carriers? Don't be surprised if you have to pay again, on your connecting flight(s).
A folding or collapsible bike will fly for free, because their custom case is about the size of a suitcase. Decent collapsibles aren't cheap, esp if you're looking for a mountain bike.
I had a supervisor waive fee for me from IAH-DEN once, even though it's too big (LxWxH). She even said "i know it's too big, but it's within your weight allowance and you're a plat." Some of the IAH staff are REALLY helpful to platinums, that was my only luck.
On the way back...a redcoat working DEN at 5am acted like she was going to deny me boarding, simply for ASKING if they could waive the fee for a plat.
It's ridiculous that a surboard or golf clubs are free while a bike box isn't; but that's how it goes. A popular belief is that PGA, surfer's groups, etc lobbied the airlines hard for free bags. Since the bike teams are given free transport of their bikes from airline sponsors, the cycling associations don't lobby the airlines to remove the bike fee.