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Note 12 - Equity Compensation Plans (Details Textual) $ / shares in Units, $ in Millions |  |  | 3 Months Ended | 9 Months Ended |
--- | --- | --- | --- | --- | ---
Jul. 01, 2021 shares | Jan. 15, 2021 shares | Sep. 30, 2021 USD ($) $ / shares shares | Sep. 30, 2020 USD ($) $ / shares | Sep. 30, 2021 USD ($) $ / shares shares | Sep. 30, 2020 USD ($) $ / shares shares | May 19, 2021 shares
Proceeds from Stock Options Exercised | $ |  |  | $ 23.9 | $ 26.0 | $ 44.9 | $ 68.3 |
Nonqualified Stock Option, Contractual Term (Year) |  |  |  |  | 10 years |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  |  |  |  | 4 years |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross (in shares) |  | 706,507 |  |  | 748,936 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Shares Issued in Period (in shares) | 4,552 |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Remaining Contractual Term (Year) |  |  |  |  | 5 years 10 months 24 days |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Weighted Average Remaining Contractual Term (Year) |  |  |  |  | 4 years 8 months 12 days |  |
Unrecognized Compensation Cost Related to Nonvested Share Based Compensation Arrangements | $ |  |  | $ 100.9 |  | $ 100.9 |  |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  |  |  |  | 2 years 4 months 24 days |  |
Share-based Payment Arrangement, Tranche One [Member] |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross (in shares) | 4,560 |  |  |  |  |  |
Share-based Payment Arrangement, Tranche Two [Member] |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) | 12 months |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross (in shares) | 12,380 |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Requisite Service Period (Year) | 1 year |  |  |  |  |  |
Performance Shares [Member] |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  | 3 years |  |  | 3 years |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Per Award (in shares) |  |  |  |  | 1 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Target Levels |  |  |  |  | 100.00% |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) |  | 59,144 |  |  | 59,144 |  |
Performance Shares [Member] | Minimum [Member] |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Target Levels |  |  |  |  | 0.00% |  |
Performance Shares [Member] | Maximum [Member] |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Target Levels |  |  |  |  | 200.00% |  |
Restricted Stock [Member] |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  | 4 years |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) |  | 134,777 |  |  | 155,500 |  |
Deferred Stock Units [Member] | Director [Member] |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross (in shares) | 7,850 |  |  |  |  |  |
Employee Stock Purchase Plan [Member] | UK Sharesave Plan [Member] |  |  |  |  |  |  |
Common Stock, Capital Shares Reserved for Future Issuance (in shares) |  |  | 450,291 |  | 450,291 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  |  |  |  | 3 years |  |
Share-based Compensation Arrangement by Share-based Payment Award, Shares Issued in Period (in shares) |  |  |  |  | 11,254 | 8,174 |
Share-based Compensation Arrangement by Share-based Payment Award, Discount from Market Price, Purchase Date |  |  |  |  | 5.00% |  |
Employee Stock Purchase Plan [Member] | US ESPP [Member] |  |  |  |  |  |  |
Common Stock, Capital Shares Reserved for Future Issuance (in shares) |  |  | 1,232,645 |  | 1,232,645 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Shares Issued in Period (in shares) |  |  |  |  | 27,621 | 25,312 |
Value of Common Stock Issued to Employees Per Share (in dollars per share) | $ / shares |  |  | $ 173.61 | $ 155.14 | $ 173.61 | $ 155.14 |
The 2021 Incentive Plan [Member] |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized (in shares) |  |  |  |  |  |  | 16,000,000
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized Basis to Reduce for Shares Issued Subject to Option or Stock Appreciation Rights |  |  |  |  |  |  | 1
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized, Basis to Reduce for Shares Issued Subject to Awards Other Than Options or Stock Appreciation Rights |  |  |  |  |  |  | 2.5
Common Stock, Capital Shares Reserved for Future Issuance (in shares) |  |  | 14,907,596 |  | 14,907,596 |  |

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- Definition Aggregate number of common shares reserved for future issuance. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02.29) -URI http://asc.fasb.org/extlink&oid=120391452&loc=d3e13212-122682 + Details
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- Definition Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. + 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 (i) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Amount of cash inflow from exercise of option under share-based payment arrangement. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2A -Subparagraph (a) -URI http://asc.fasb.org/extlink&oid=120381028&loc=SL79508275-113901 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 230 -SubTopic 10 -Section 45 -Paragraph 14 -Subparagraph (a) -URI http://asc.fasb.org/extlink&oid=123570139&loc=d3e3255-108585 + Details
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- Definition Estimated period over which an employee is required to provide service in exchange for the equity-based payment award, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + 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 (a)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition. + 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 (a)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Discount rate from fair value on purchase date that participants pay for shares. + 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 -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + 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 (c)(2)(iii)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Number of shares authorized for issuance under share-based payment arrangement. + 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 (a)(3) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Number of shares issued under share-based payment arrangement. + 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 -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Weighted average remaining contractual term for vested portions of options outstanding and currently exercisable or convertible, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + 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 -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + 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 (e)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Description of the estimated period of time over which an employee may exercise the vested nonqualified stock option granted. This period may be explicit or implicit based on the terms of the award, and may be presented in a variety of ways (for example, year, month and year, day, month and year, quarter of a year). + References No definition available. + Details
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- Definition Represents number of shares authorized basis to reduce for shares issued subjected to awards other than options for stock appreciation right for share-based compensation arrangement by share-based payment award. + References No definition available. + Details
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- Definition The number of shares issued per award in a share-based compensation arrangement. + References No definition available. + Details
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- Definition The percent target levels for an award in a share-baesd compensation arrangement. + References No definition available. + Details
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- Definition This element represents the discount price per share offered to employees who participate in the ESPP Plan. + References No definition available. + Details
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