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Note 17 - Compensation Plans (Tables) | 12 Months Ended
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Dec. 31, 2021
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, 2019 |  |  | 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 |  |  |  |  | N/A |
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 |  |  |  |  | N/A |
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 |
Granted |  |  | 750,822 |  |  | $ | 189.29 |  |  |  |  |  |  |  | 162,378 |  |  | $ | 189.23 |  |  |  | 59,144 |  |  |  | $ | 210.07 |
Dividend reinvestment |  |  | — |  |  | $ | — |  |  |  |  |  |  |  | — |  |  | $ | — |  |  |  | 980 |  |  |  |  | N/A |
Exercised or lapsed |  |  | (1,146,422 | ) |  | $ | 73.30 |  |  | $ | 147.6 |  |  |  | (173,726 | ) |  | $ | 120.94 |  |  |  | (42,610 | ) |  |  | $ | 140.70 |
Canceled, expired or forfeited |  |  | (149,079 | ) |  | $ | 155.40 |  |  |  |  |  |  |  | (27,202 | ) |  | $ | 157.79 |  |  |  | — |  |  |  | $ | — |
Outstanding at December 31, 2021 |  |  | 5,067,098 |  |  | $ | 115.73 |  |  | $ | 572.6 |  |  |  | 351,504 |  |  | $ | 161.33 |  |  |  | 163,123 |  |  |  | $ | 192.99 |
Exercisable at December 31, 2021 |  |  | 3,173,592 |  |  | $ | 89.14 |  |  | $ | 443.0 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exercisable at December 31, 2020 |  |  | 3,494,164 |  |  | $ | 76.84 |  |  | $ | 456.9 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Nonvested at December 31, 2021 |  |  | 1,893,506 |  |  |  |  |  |  |  |  |  |  |  | 351,504 |  |  |  |  |  |  |  | 163,123 |  |  |  |  |  |
Expected to vest at December 31, 2021 |  |  | 1,641,393 |  |  |  |  |  |  |  |  |  |  |  | 305,607 |  |  |  |  |  |  |  | 181,817 |  | (1) |  |  |  |
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions [Table Text Block] |
|  | 2021 |  |  | 2020 |  |  | 2019 |
Expected volatility |  |  | 23.66 | % |  |  | 18.48 | % |  |  | 18.76 | %
Risk-free interest rate |  |  | 0.39 | % |  |  | 1.51 | % |  |  | 2.25 | %
Expected term in years |  |  | 4.3 |  |  |  | 4.3 |  |  |  | 4.4 |
Dividend yield |  |  | 0.63 | % |  |  | 0.71 | % |  |  | 0.80 | %
Weighted average grant date fair value per stock option |  | $ | 35.15 |  |  | $ | 25.87 |  |  | $ | 24.13 |
Schedule of Nonvested Share Activity [Table Text Block] |
|  | Number of Options |  |  | Weighted Average Grant-Date Fair Value Per Share |
Nonvested balance at January 1, 2019 |  |  | 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 |
Granted |  |  | 750,822 |  |  | $ | 35.15 |
Vested |  |  | (825,850 | ) |  | $ | 21.62 |
Cancelled or expired |  |  | (149,079 | ) |  | $ | 27.54 |
Nonvested balance at December 31, 2021 |  |  | 1,893,506 |  |  | $ | 28.49 |

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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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