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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