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Note 17 - Compensation Plans (Tables) | 12 Months Ended
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Dec. 31, 2020
Notes Tables |
Share-based Payment Arrangement, Option, Activity [Table Text Block] |
|  | Stock Option |  |  | Restricted Stock |  |  | PSU |
|  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | Weighted |  |  |  |  |  |  |  | Weighted |
|  |  |  |  |  | Weighted |  |  |  |  |  |  |  |  |  |  | Average |  |  |  |  |  |  |  | Average |
|  |  |  |  |  | Average |  |  | Aggregate |  |  |  |  |  |  | Grant Date |  |  |  |  |  |  |  | Grant Date |
|  | Number |  |  | Exercise |  |  | Intrinsic |  |  | Number |  |  | Fair Value |  |  | Number |  |  |  | Fair Value |
|  | of Options |  |  | Price |  |  | Value |  |  | of Shares |  |  | Per Share |  |  | of Shares |  |  |  | Per Share |
|  |  |  |  |  |  |  |  |  | (in millions) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Outstanding at January 1, 2018 |  |  | 8,907,109 |  |  | $ | 53.31 |  |  | $ | 380.2 |  |  |  | 604,464 |  |  | $ | 78.28 |  |  |  | — |  |  |  | $ | — |
Granted |  |  | 958,332 |  |  | $ | 104.23 |  |  |  |  |  |  |  | 207,041 |  |  | $ | 104.34 |  |  |  | 46,705 |  |  |  | $ | 140.70 |
Exercised or lapsed |  |  | (2,752,735 | ) |  | $ | 33.00 |  |  | $ | 213.0 |  |  |  | (225,205 | ) |  | $ | 76.88 |  |  |  | — |  |  |  | $ | — |
Canceled, expired or forfeited |  |  | (292,660 | ) |  | $ | 79.16 |  |  |  |  |  |  |  | (52,965 | ) |  | $ | 82.64 |  |  |  | (4,655 | ) |  |  | $ | 140.70 |
Outstanding at December 31, 2018 |  |  | 6,820,046 |  |  | $ | 67.27 |  |  | $ | 284.9 |  |  |  | 533,335 |  |  | $ | 88.55 |  |  |  | 42,050 |  |  |  | $ | 140.70 |
Granted |  |  | 920,398 |  |  | $ | 135.64 |  |  |  |  |  |  |  | 167,231 |  |  | $ | 135.82 |  |  |  | 51,792 |  |  |  | $ | 173.59 |
Dividend reinvestment |  |  | — |  |  | $ | — |  |  |  |  |  |  |  | — |  |  | $ | — |  |  |  | 550 |  |  |  | Not applicable |
Exercised or lapsed |  |  | (1,131,970 | ) |  | $ | 51.20 |  |  | $ | 101.0 |  |  |  | (242,815 | ) |  | $ | 84.60 |  |  |  | — |  |  |  | $ | — |
Canceled, expired or forfeited |  |  | (175,660 | ) |  | $ | 92.27 |  |  |  |  |  |  |  | (29,022 | ) |  | $ | 109.72 |  |  |  | (432 | ) |  |  | $ | 134.24 |
Outstanding at December 31, 2019 |  |  | 6,432,814 |  |  | $ | 79.51 |  |  | $ | 449.2 |  |  |  | 428,729 |  |  | $ | 107.96 |  |  |  | 93,960 |  |  |  | $ | 158.50 |
Granted |  |  | 936,843 |  |  | $ | 159.28 |  |  |  |  |  |  |  | 163,441 |  |  | $ | 159.96 |  |  |  | 50,736 |  |  |  | $ | 192.93 |
Dividend reinvestment |  |  | — |  |  | $ | — |  |  |  |  |  |  |  | — |  |  | $ | — |  |  |  | 913 |  |  |  | Not applicable |
Exercised or lapsed |  |  | (1,623,740 | ) |  | $ | 56.83 |  |  | $ | 189.8 |  |  |  | (178,317 | ) |  | $ | 102.00 |  |  |  | — |  |  |  |  |  |
Canceled, expired or forfeited |  |  | (134,140 | ) |  | $ | 125.95 |  |  |  |  |  |  |  | (23,799 | ) |  | $ | 124.40 |  |  |  | — |  |  |  |  |  |
Outstanding at December 31, 2020 |  |  | 5,611,777 |  |  | $ | 98.28 |  |  | $ | 613.4 |  |  |  | 390,054 |  |  | $ | 131.63 |  |  |  | 145,609 |  |  |  | $ | 170.75 |
Exercisable at December 31, 2020 |  |  | 3,494,164 |  |  | $ | 76.84 |  |  | $ | 456.9 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exercisable at December 31, 2019 |  |  | 4,175,855 |  |  | $ | 65.05 |  |  | $ | 352.0 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Nonvested at December 31, 2020 |  |  | 2,117,613 |  |  |  |  |  |  |  |  |  |  |  | 390,054 |  |  |  |  |  |  |  | 102,999 |  |  |  |  |  |
Expected to vest at December 31, 2020 |  |  | 1,900,586 |  |  |  |  |  |  |  |  |  |  |  | 354,959 |  |  |  |  |  |  |  | 268,294 |  | (1) |  |  |  |
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions [Table Text Block] |
|  | 2020 |  |  | 2019 |  |  | 2018 |
Expected volatility |  |  | 18.48 | % |  |  | 18.76 | % |  |  | 18.51 | %
Risk-free interest rate |  |  | 1.51 | % |  |  | 2.25 | % |  |  | 2.53 | %
Expected term in years |  |  | 4.3 |  |  |  | 4.4 |  |  |  | 4.4 |
Dividend yield |  |  | 0.71 | % |  |  | 0.80 | % |  |  | — | %
Weighted average grant date fair value per stock option |  | $ | 25.87 |  |  | $ | 24.13 |  |  | $ | 21.48 |
Schedule of Nonvested Share Activity [Table Text Block] |
|  | Number of Options |  |  | Weighted Average Grant-Date Fair Value Per Share |
Nonvested balance at January 1, 2018 |  |  | 2,911,770 |  |  | $ | 14.86 |
Granted |  |  | 958,332 |  |  | $ | 21.48 |
Vested |  |  | (1,117,513 | ) |  | $ | 14.79 |
Cancelled or expired |  |  | (292,660 | ) |  | $ | 15.33 |
Nonvested balance at December 31, 2018 |  |  | 2,459,929 |  |  | $ | 17.41 |
Granted |  |  | 920,398 |  |  | $ | 24.13 |
Vested |  |  | (947,708 | ) |  | $ | 17.29 |
Cancelled or expired |  |  | (175,660 | ) |  | $ | 17.77 |
Nonvested balance at December 31, 2019 |  |  | 2,256,959 |  |  | $ | 20.17 |
Granted |  |  | 936,843 |  |  | $ | 25.87 |
Vested |  |  | (942,049 | ) |  | $ | 18.30 |
Cancelled or expired |  |  | (134,140 | ) |  | $ | 22.40 |
Nonvested balance at December 31, 2020 |  |  | 2,117,613 |  |  | $ | 23.39 |

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- Definition Tabular disclosure for stock option plans. Includes, but is not limited to, outstanding awards at beginning and end of year, grants, exercises, forfeitures, and weighted-average grant date fair value. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (e) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Tabular disclosure of the significant assumptions used during the year to estimate the fair value of stock options, including, but not limited to: (a) expected term of share options and similar instruments, (b) expected volatility of the entity's shares, (c) expected dividends, (d) risk-free rate(s), and (e) discount for post-vesting restrictions. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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