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Note 12 - Equity Compensation Plans (Tables) | 9 Months Ended
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Sep. 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 |  |  | 210,808 |  |  | $ | 185.01 |  |  |  |  |  |  |  | 193,191 |  |  | $ | 184.98 |  |  |  | 48,486 |  |  |  | $ | 212.86 |
Dividend reinvestment |  |  | — |  |  | $ | — |  |  |  |  |  |  |  | — |  |  | $ | — |  |  |  | 880 |  |  |  |  | N/A |
Exercised or lapsed |  |  | (1,224,259 | ) |  | $ | 108.96 |  |  | $ | 108.6 |  |  |  | (166,492 | ) |  | $ | 180.18 |  |  |  | (45,997 | ) |  |  | $ | 192.93 |
Canceled, expired or forfeited |  |  | (217,654 | ) |  | $ | 187.67 |  |  |  |  |  |  |  | (28,613 | ) |  | $ | 183.00 |  |  |  | (18,487 | ) |  |  | $ | 205.58 |
Outstanding at September 30, 2023 |  |  | 2,792,711 |  |  | $ | 143.07 |  |  | $ | 260.2 |  |  |  | 305,661 |  |  | $ | 185.87 |  |  |  | 184,376 |  |  |  | $ | 199.70 |
Exercisable at September 30, 2023 |  |  | 2,021,091 |  |  | $ | 126.77 |  |  | $ | 221.2 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exercisable at December 31, 2022 |  |  | 2,702,075 |  |  | $ | 110.02 |  |  | $ | 182.6 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Nonvested at September 30, 2023 |  |  | 771,620 |  |  |  |  |  |  |  |  |  |  |  | 305,661 |  |  |  |  |  |  |  | 184,376 |  |  |  |  |  |
Expected to vest at September 30, 2023 |  |  | 630,249 |  |  |  |  |  |  |  |  |  |  |  | 266,300 |  |  |  |  |  |  |  | 227,124 |  | (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 |  | 27.27 | % |  | 25.33 | %
Risk-free interest rate |  | 3.77 | % |  | 1.55 | %
Expected term in years |  | 4.0 |  |  | 4.2 |
Dividend yield |  | 0.66 | % |  | 0.60 | %
Weighted average grant date fair value per stock option |  | $48.05 |  |  | $42.25 |

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