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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

X

- Definition

Aggregate number of common shares reserved for future issuance.

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-SubTopic 10
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-Paragraph 1
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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).

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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.

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As of the balance-sheet date, the aggregate unrecognized cost of share-based awards made to employees and non-employees under share-based compensation plans that have yet to vest.

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This element represents the discount price per share offered to employees who participate in the ESPP Plan.

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