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Note 12 - Equity Compensation Plans (Tables) | 3 Months Ended
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Mar. 31, 2021
Notes Tables |
Share-based Payment Arrangement, Option, Activity [Table Text Block] |
|  | Stock Option |  |  | Restricted Stock |  |  | PSU |
|  | Number of Shares |  |  | Weighted Average Exercise Price |  |  | Aggregate Intrinsic Value |  |  | Number of Shares |  |  | Weighted Average Grant Date Fair Value Per Share |  |  | Number of Shares |  |  | Weighted Average Grant Date Fair Value Per Share |
|  |  |  |  |  |  |  |  |  | (in millions) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Outstanding at December 31, 2020 |  |  | 5,611,777 |  |  | $ | 98.28 |  |  | $ | 613.4 |  |  |  | 390,054 |  |  | $ | 131.63 |  |  |  | 145,609 |  |  | $ | 170.75 |
Granted |  |  | 709,811 |  |  | $ | 190.10 |  |  |  |  |  |  |  | 135,380 |  |  | $ | 190.10 |  |  |  | 59,144 |  |  | $ | 210.07 |
Dividend reinvestment |  |  | — |  |  | $ | — |  |  |  |  |  |  |  | — |  |  | $ | — |  |  |  | 269 |  |  |  | N/A |
Exercised or lapsed |  |  | (115,284 | ) |  | $ | 64.73 |  |  | $ | 13.5 |  |  |  | (36,637 | ) |  | $ | 158.23 |  |  |  | (42,610 | ) |  | $ | 140.70 |
Canceled, expired or forfeited |  |  | (20,245 | ) |  | $ | 136.35 |  |  |  |  |  |  |  | (3,216 | ) |  | $ | 141.28 |  |  |  | — |  |  |  |  |
Outstanding at March 31, 2021 |  |  | 6,186,059 |  |  | $ | 109.31 |  |  | $ | 416.8 |  |  |  | 485,581 |  |  | $ | 145.47 |  |  |  | 162,412 |  |  | $ | 192.99 |
Exercisable at March 31, 2021 |  |  | 3,588,921 |  |  | $ | 82.06 |  |  | $ | 339.6 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exercisable at December 31, 2020 |  |  | 3,494,164 |  |  | $ | 76.84 |  |  | $ | 456.9 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Nonvested at March 31, 2021 |  |  | 2,597,138 |  |  |  |  |  |  |  |  |  |  |  | 485,581 |  |  |  |  |  |  |  | 162,412 |  |  |  |  |
Expected to vest at March 31, 2021 |  |  | 2,296,123 |  |  |  |  |  |  |  |  |  |  |  | 432,880 |  |  |  |  |  |  |  | 115,599 | (1) |  |  |  |
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions [Table Text Block] |
|  | 2021 |  |  | 2020 |
Option pricing model |  |  | Black-Scholes |  |  |  | Black-Scholes |
Expected volatility |  |  | 23.60 | % |  |  | 18.17 | %
Risk-free interest rate |  |  | 0.37 | % |  |  | 1.59 | %
Expected term in years |  |  | 4.3 |  |  |  | 4.3 |
Dividend yield |  |  | 0.63 | % |  |  | 0.71 | %
Weighted average grant date fair value per stock option |  | $ | 36.09 |  |  | $ | 25.49 |

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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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