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Note 12 - Equity Compensation Plans (Tables)
9 Months Ended
Sep. 30, 2022
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, 2021

    5,067,098     $ 115.73     $ 572.6       351,504     $ 161.33       163,123       $ 192.99  

Granted

    653,175     $ 196.67               181,380     $ 195.93       111,333       $ 168.63  

Dividend reinvestment

        $                   $       1,021         N/A  

Exercised or lapsed

    (1,206,156 )   $ 92.22     $ 110.0       (197,238 )   $ 156.30       (54,927 )     $ 174.42  

Canceled, expired or forfeited

    (224,492 )   $ 182.28               (33,177 )   $ 181.99       (21,406 )     $ 202.55  

Outstanding at September 30, 2022

    4,289,625     $ 131.15     $ 168.9       302,469     $ 182.89       199,144       $ 195.31  

Exercisable at September 30, 2022

    2,919,198     $ 108.37     $ 181.4                                    

Exercisable at December 31, 2021

    3,173,592     $ 89.14     $ 443.0                                    

Nonvested at September 30, 2022

    1,370,427                       302,469               199,144            

Expected to vest at September 30, 2022

    1,181,072                       263,954               153,219  

(1)

       
Schedule of Share-Based Payment Award, Stock Options, Valuation Assumptions [Table Text Block]
   

2022

   

2021

 

Option pricing model

 

Black-Scholes

   

Black-Scholes

 

Expected volatility

    25.33 %     23.66 %

Risk-free interest rate

    1.55 %     0.39 %

Expected term in years

    4.2       4.3  

Dividend yield

    0.60 %     0.63 %

Weighted average grant date fair value per stock option

  $ 42.25     $ 35.14