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Note 17 - Compensation Plans - Summary of Stock Activity (Details) - USD ($) $ / shares in Units, $ in Millions | 12 Months Ended |
--- | --- | ---
Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Outstanding beginning balance, options (in shares) |  | 5,611,777 | 6,432,814 | 6,820,046 |
Outstanding beginning balance, options, weighted average exercise price (in dollars per share) |  | $ 98.28 | $ 79.51 | $ 67.27 |
Outstanding, options, aggregate intrinsic value |  | $ 572.6 | $ 613.4 | $ 449.2 | $ 284.9
Number of options, granted (in shares) |  | 750,822 | 936,843 | 920,398 |
Granted, options, weighted average exercise price (in dollars per share) |  | $ 189.29 | $ 159.28 | $ 135.64 |
Dividend reinvestment, options (in shares) |  | 0 | 0 | 0 |
Dividend reinvestment, options, weighted average exercise price (in (in dollars per share) |  | $ 0 | $ 0 | $ 0 |
Exercised or lapsed, options (in shares) |  | (1,146,422) | (1,623,740) | (1,131,970) |
Exercised or lapsed, options, weighted average exercise price (in dollars per share) |  | $ 73.30 | $ 56.83 | $ 51.20 |
Exercised or lapsed, options, aggregate intrinsic value |  | $ 147.6 | $ 189.8 | $ 101.0 |
Canceled, expired or forfeited, option (in shares) |  | (149,079) | (134,140) | (175,660) |
Canceled, expired or forfeited, options, weighted average exercise price (in dollars per share) |  | $ 155.40 | $ 125.95 | $ 92.27 |
Outstanding beginning balance, options, weighted average exercise price (in dollars per share) |  | 115.73 | 98.28 | 79.51 |
Outstanding beginning balance, options, weighted average exercise price (in dollars per share) |  | $ 115.73 | $ 98.28 | $ 79.51 | $ 67.27
Outstanding, option (in shares) |  | 5,067,098 | 5,611,777 | 6,432,814 |
Exercisable, options (in shares) |  | 3,173,592 | 3,494,164 |  |
Exercisable, options, weighted average exercise price (in dollars per share) |  | $ 89.14 | $ 76.84 |  |
Exercisable, options, aggregate intrinsic value |  | $ 443.0 | $ 456.9 |  |
Nonvested, options (in shares) |  | 1,893,506 | 2,117,613 | 2,256,959 | 2,459,929
Expected to vest, options (in shares) |  | 1,641,393 |  |  |
Restricted Stock [Member] |  |  |  |  |
Outstanding beginning balance, number of shares (in shares) |  | 390,054 | 428,729 | 533,335 |
Outstanding beginning balance, weighted average exercise price (in dollars per share) |  | $ 131.63 | $ 107.96 | $ 88.55 |
Granted, number of shares (in shares) |  | 162,378 | 163,441 | 167,231 |
Granted, weighted average exercise price (in dollars per share) |  | $ 189.23 | $ 159.96 | $ 135.82 |
Dividend reinvestment, number of shares (in shares) |  | 0 | 0 | 0 |
Dividend reinvestment (in dollars per share) |  | $ 0 | $ 0 | $ 0 |
Exercised or lapsed, number of shares (in shares) |  | (173,726) | (178,317) | (242,815) |
Exercised or lapsed, weighted average exercise price (in dollars per share) |  | $ 120.94 | $ 102.00 | $ 84.60 |
Canceled, expired or forfeited, number of shares (in shares) |  | (27,202) | (23,799) | (29,022) |
Canceled, expired or forfeited, weighted average exercise price (in dollars per share) |  | $ 157.79 | $ 124.40 | $ 109.72 |
Outstanding ending balance, number of shares (in shares) |  | 351,504 | 390,054 | 428,729 |
Outstanding ending balance, weighted average exercise price (in dollars per share) |  | $ 161.33 | $ 131.63 | $ 107.96 |
Outstanding ending balance, number of shares (in shares) |  | 351,504 | 390,054 | 428,729 | 533,335
Outstanding ending balance, weighted average exercise price (in dollars per share) |  | $ 161.33 | $ 131.63 | $ 107.96 | $ 88.55
Expected, number of shares (in shares) |  | 305,607 |  |  |
Performance Shares [Member] |  |  |  |  |
Outstanding beginning balance, number of shares (in shares) |  | 145,609 | 93,960 | 42,050 |
Outstanding beginning balance, weighted average exercise price (in dollars per share) |  | $ 170.75 | $ 158.50 | $ 140.70 |
Granted, number of shares (in shares) |  | 59,144 | 50,736 | 51,792 |
Granted, weighted average exercise price (in dollars per share) |  | $ 210.07 | $ 192.93 | $ 173.59 |
Dividend reinvestment, number of shares (in shares) |  | 980 | 913 | 550 |
Exercised or lapsed, number of shares (in shares) |  | (42,610) | 0 | 0 |
Exercised or lapsed, weighted average exercise price (in dollars per share) |  | $ 140.70 | $ 0 |  |
Canceled, expired or forfeited, number of shares (in shares) |  | 0 | 0 | (432) |
Canceled, expired or forfeited, weighted average exercise price (in dollars per share) |  |  | $ 0 | $ 134.24 |
Outstanding ending balance, number of shares (in shares) |  | 163,123 | 145,609 | 93,960 |
Outstanding ending balance, weighted average exercise price (in dollars per share) |  | $ 192.99 | $ 170.75 | $ 158.50 |
Outstanding ending balance, number of shares (in shares) |  | 163,123 | 145,609 | 93,960 | 42,050
Outstanding ending balance, weighted average exercise price (in dollars per share) |  | $ 192.99 | $ 170.75 | $ 158.50 | $ 140.70
Outstanding at December 31, 2021 (in shares) |  | 163,123 |  |  |
Expected, number of shares (in shares) | [1] | 181,817 |  |  |
[1] | Includes estimated performance achievement

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- Definition The weighted average fair value at grant date for nonvested equity-based awards issued 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 For presentations that combine terminations, the number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan or that expired. + 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)(1)(iv)(3)-(4) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Weighted average price of options that were either forfeited or expired. + 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)(1)(iv)(3)-(4) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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