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Note 12 - Equity Compensation Plans (Tables) | 6 Months Ended
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Jun. 30, 2023
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 |
Outstanding at December 31, 2022 |  |  | 4,023,816 |  |  | $ | 132.90 |  |  | $ | 193.3 |  |  |  | 307,575 |  |  | $ | 182.07 |  |  |  | 199,494 |  |  |  | $ | 195.34 |
Granted |  |  | 205,351 |  |  | $ | 183.97 |  |  |  |  |  |  |  | 192,836 |  |  | $ | 184.94 |  |  |  | 48,486 |  |  |  | $ | 212.86 |
Dividend reinvestment |  |  | — |  |  | $ | — |  |  |  |  |  |  |  | — |  |  | $ | — |  |  |  | 625 |  |  |  |  | N/A |
Exercised or lapsed |  |  | (1,049,105 | ) |  | $ | 108.83 |  |  | $ | 86.7 |  |  |  | (162,662 | ) |  | $ | 179.02 |  |  |  | (45,997 | ) |  |  | $ | 192.93 |
Canceled, expired or forfeited |  |  | (197,034 | ) |  | $ | 187.69 |  |  |  |  |  |  |  | (20,616 | ) |  | $ | 181.58 |  |  |  | (18,487 | ) |  |  | $ | 205.58 |
Outstanding at June 30, 2023 |  |  | 2,983,028 |  |  | $ | 141.26 |  |  | $ | 252.9 |  |  |  | 317,133 |  |  | $ | 185.93 |  |  |  | 184,121 |  |  |  | $ | 199.70 |
Exercisable at June 30, 2023 |  |  | 2,208,396 |  |  | $ | 125.45 |  |  | $ | 222.2 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exercisable at December 31, 2022 |  |  | 2,702,075 |  |  | $ | 110.02 |  |  | $ | 182.6 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Nonvested at June 30, 2023 |  |  | 774,632 |  |  |  |  |  |  |  |  |  |  |  | 317,133 |  |  |  |  |  |  |  | 184,121 |  |  |  |  |  |
Expected to vest at June 30, 2023 |  |  | 687,630 |  |  |  |  |  |  |  |  |  |  |  | 276,302 |  |  |  |  |  |  |  | 216,330 |  | (1) |  |  |  |
Schedule of Share-Based Payment Award, Stock Options, Valuation Assumptions [Table Text Block] |
|  | 2023 |  |  | 2022 |
Option pricing model |  | Black-Scholes |  |  | Black-Scholes |
Expected volatility |  | 27.36 | % |  | 25.29 | %
Risk-free interest rate |  | 3.74 | % |  | 1.47 | %
Expected term in years |  | 4.0 |  |  | 4.2 |
Dividend yield |  | 0.66 | % |  | 0.60 | %
Weighted average grant date fair value per stock option |  | $47.70 |  |  | $42.18 |

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