I think short term rewards help more than long term.
For my team when you're above your execution rate for a week you are eligible to work from home one day the next week. In general, no one does anything when they work from home but to be eligible, they have to get their work done in the office. It's effectively getting people to work harder 4 days a week for an extra day off.
Obviously, this may or may not work with your environment.