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Note 12 - Compensation Plans - Summary of Stock Activity (Details) - USD ($) $ / shares in Units, $ in Millions | 9 Months Ended |
--- | --- | ---
Sep. 30, 2023 | Dec. 31, 2022
Outstanding beginning balance, options (in shares) |  | 4,023,816 |
Outstanding beginning balance, options, weighted average exercise price (in dollars per share) |  | $ 132.90 |
Outstanding, options, aggregate intrinsic value |  | $ 260.2 | $ 193.3
Granted, options (in shares) |  | 210,808 |
Granted, options, weighted average exercise price (in dollars per share) |  | $ 185.01 |
Dividend reinvestment, options (in shares) |  | 0 |
Dividend reinvestment, options, weighted average exercise price (in (in dollars per share) |  | $ 0 |
Exercised or lapsed, options (in shares) |  | (1,224,259) |
Exercised or lapsed, options, weighted average exercise price (in dollars per share) |  | $ 108.96 |
Exercised or lapsed, options, aggregate intrinsic value |  | $ 108.6 |
Canceled, expired or forfeited, option (in shares) |  | (217,654) |
Canceled, expired or forfeited, options, weighted average exercise price (in dollars per share) |  | $ 187.67 |
Outstanding, option (in shares) |  | 2,792,711 |
Outstanding beginning balance, options, weighted average exercise price (in dollars per share) |  | $ 143.07 |
Exercisable, options (in shares) |  | 2,021,091 | 2,702,075
Exercisable, options, weighted average exercise price (in dollars per share) |  | $ 126.77 | $ 110.02
Exercisable, options, aggregate intrinsic value |  | $ 221.2 | $ 182.6
Nonvested, options (in shares) |  | 771,620 |
Expected to vest, options (in shares) |  | 630,249 |
Restricted Stock [Member] |  |  |
Outstanding beginning balance, number of shares (in shares) |  | 307,575 |
Outstanding beginning balance, weighted average exercise price (in dollars per share) |  | $ 182.07 |
Granted, number of shares (in shares) |  | 193,191 |
Granted, weighted average exercise price (in dollars per share) |  | $ 184.98 |
Dividend reinvestment, number of shares (in shares) |  | 0 |
Dividend reinvestment (in dollars per share) |  | $ 0 |
Exercised or lapsed, number of shares (in shares) |  | (166,492) |
Exercised or lapsed, weighted average exercise price (in dollars per share) |  | $ 180.18 |
Canceled, expired or forfeited, number of shares (in shares) |  | (28,613) |
Canceled, expired or forfeited, weighted average exercise price (in dollars per share) |  | $ 183.00 |
Outstanding ending balance, number of shares (in shares) |  | 305,661 |
Outstanding ending balance, weighted average exercise price (in dollars per share) |  | $ 185.87 |
Nonvested, number of shares (in shares) |  | 305,661 | 307,575
Expected, number of shares (in shares) |  | 266,300 |
Performance Shares [Member] |  |  |
Outstanding beginning balance, number of shares (in shares) |  | 199,494 |
Outstanding beginning balance, weighted average exercise price (in dollars per share) |  | $ 195.34 |
Granted, number of shares (in shares) |  | 48,486 |
Granted, weighted average exercise price (in dollars per share) |  | $ 212.86 |
Dividend reinvestment, number of shares (in shares) |  | 880 |
Exercised or lapsed, number of shares (in shares) |  | (45,997) |
Canceled, expired or forfeited, number of shares (in shares) |  | (18,487) |
Canceled, expired or forfeited, weighted average exercise price (in dollars per share) |  | $ 205.58 |
Outstanding ending balance, number of shares (in shares) |  | 184,376 |
Outstanding ending balance, weighted average exercise price (in dollars per share) |  | $ 199.70 |
Nonvested, number of shares (in shares) |  | 184,376 | 199,494
Expected, number of shares (in shares) | [1] | 227,124 |
[1] | Includes estimated performance achievement

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- Definition The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(03) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Weighted average fair value as of the grant date of equity-based award plans other than stock (unit) option plans that were not exercised or put into effect as a result of the occurrence of a terminating event. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(03) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition 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). + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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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://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The number of non-vested equity-based payment instruments, excluding stock (or unit) options, that validly exist and are outstanding as of the balance sheet date. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Per share or unit weighted-average fair value of nonvested award under share-based payment arrangement. Excludes share and unit options. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + 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://www.xbrl.org/2009/role/commonPracticeRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Weighted average price of options that were either forfeited or expired. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Gross number of share options (or share units) granted during the period. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Number of fully vested and expected to vest options outstanding that can be converted into shares under option plan. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (e)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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