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Note 12 - Equity Compensation Plans (Details Textual) - USD ($) $ / shares in Units, $ in Millions | 1 Months Ended | 3 Months Ended | 9 Months Ended
--- | --- | --- | ---
Jan. 31, 2023 | Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022
Proceeds from Stock Options Exercised |  | $ 19.4 | $ 18.6 | $ 134.3 | $ 111.6
Nonqualified Stock Option, Contractual Term (Year) |  |  |  | 10 years |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year) |  |  |  | 4 years |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares) |  |  |  | 210,808 |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding, Weighted Average Remaining Contractual Term (Year) |  |  |  | 5 years 9 months 21 days |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Exercisable, Weighted Average Remaining Contractual Term (Year) |  |  |  | 5 years 7 days |
Unrecognized Compensation Cost Related to Nonvested Share Based Compensation Arrangements |  | $ 91.1 |  | $ 91.1 |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  |  |  | 2 years 3 months 14 days |
Minimum [Member] |  |  |  |  |
Performance Share Units, Percnetage of Target Levels | 0.00% |  |  |  |
Maximum [Member] |  |  |  |  |
Performance Share Units, Percnetage of Target Levels | 200.00% |  |  |  |
Performance Shares [Member] |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year) |  |  |  | 3 years |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Per Award (in shares) |  |  |  | 1 |
Share-based Compensation Arrangement by Share-based Payment Award, Target Levels |  |  |  | 100.00% |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) |  |  |  | 48,486 |
Performance Shares [Member] | Key Employees [Member] |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) | 48,486 |  |  |  |
Performance Shares [Member] | Minimum [Member] |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Target Levels |  |  |  | 0.00% |
Performance Shares [Member] | Maximum [Member] |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Target Levels |  |  |  | 200.00% |
Nonqualified Stock Option [Member] | Key Employees [Member] |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares) | 205,034 |  |  |  |
Restricted Stock [Member] |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year) | 4 years |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) |  |  |  | 193,191 |
Restricted Stock [Member] | Key Employees [Member] |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) | 177,619 |  |  |  |
TSR Based PSUs [Member] |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) | 29,783 |  |  |  |
ROIC Based PSUs [Member] |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) | 18,703 |  |  |  |
Employee Stock Purchase Plan [Member] | UK Sharesave Plan [Member] |  |  |  |  |
Common Stock, Capital Shares Reserved for Future Issuance (in shares) |  | 450,571 |  | 450,571 |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year) |  |  |  | 3 years |
Share-based Compensation Arrangement by Share-based Payment Award, Discount from Market Price, Purchase Date |  |  |  | 5.00% |
Share-Based Compensation Arrangement by Share-Based Payment Award, Shares Issued in Period (in shares) |  |  |  | 5,144 | 9,370
Employee Stock Purchase Plan [Member] | US ESPP [Member] |  |  |  |  |
Common Stock, Capital Shares Reserved for Future Issuance (in shares) |  | 1,181,196 |  | 1,181,196 |
Share-Based Compensation Arrangement by Share-Based Payment Award, Shares Issued in Period (in shares) |  |  |  | 14,698 | 26,643
Value of Common Stock Issued to Employees Per Share (in dollars per share) |  | $ 205.07 | $ 176.68 | $ 205.07 | $ 176.68
The 2021 Incentive Plan [Member] |  |  |  |  |
Common Stock, Capital Shares Reserved for Future Issuance (in shares) |  | 13,418,818 |  | 13,418,818 |

X
- Definition Aggregate number of common shares reserved for future issuance. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02.29) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480566/210-10-S99-1 + Details
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- Definition Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Amount of cash inflow from exercise of option under share-based payment arrangement. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 45 -Paragraph 14 -Subparagraph (a) -SubTopic 10 -Topic 230 -Publisher FASB -URI https://asc.fasb.org//1943274/2147482740/230-10-45-14 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 2A -Subparagraph (a) -SubTopic 10 -Topic 718 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2A + Details
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- Definition Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (a)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Discount rate from fair value on purchase date that participants pay for shares. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -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 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 Number of shares issued under share-based payment arrangement. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Weighted average remaining contractual term for vested portions of options outstanding and currently exercisable or convertible, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Topic 718 -SubTopic 10 -Subparagraph (e)(1) -Name Accounting Standards Codification -Paragraph 2 -Section 50 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Description of the estimated period of time over which an employee may exercise the vested nonqualified stock option granted. This period may be explicit or implicit based on the terms of the award, and may be presented in a variety of ways (for example, year, month and year, day, month and year, quarter of a year). + References No definition available. + Details
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- Definition The percentage of target levels for performance share units. + References No definition available. + Details
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- Definition The number of shares issued per award in a share-based compensation arrangement. + References No definition available. + Details
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- Definition The percent target levels for an award in a share-baesd compensation arrangement. + References No definition available. + Details
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- Definition As of the balance-sheet date, the aggregate unrecognized cost of share-based awards made to employees and non-employees under share-based compensation plans that have yet to vest. + References No definition available. + Details
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- Definition This element represents the discount price per share offered to employees who participate in the ESPP Plan. + References No definition available. + Details
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