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Note 17 - Compensation Plans (Tables) | 12 Months Ended
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Dec. 31, 2023
Notes Tables |
Share-Based Payment Arrangement, Option, Activity [Table Text Block] |
|  | Stock Option |  |  | Restricted Stock |  |  | PSU |
|  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | Weighted |  |  |  |  |  |  |  | Weighted |
|  |  |  |  |  | Weighted |  |  |  |  |  |  |  |  |  |  | Average |  |  |  |  |  |  |  | Average |
|  |  |  |  |  | Average |  |  | Aggregate |  |  |  |  |  |  | Grant Date |  |  |  |  |  |  |  | Grant Date |
|  | Number |  |  | Exercise |  |  | Intrinsic |  |  | Number |  |  | Fair Value |  |  | Number |  |  |  | Fair Value |
|  | of Options |  |  | Price |  |  | Value |  |  | of Shares |  |  | Per Share |  |  | of Shares |  |  |  | Per Share |
|  |  |  |  |  |  |  |  |  | (in millions) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Outstanding at January 1, 2021 |  |  | 5,611,777 |  |  | $ | 98.28 |  |  | $ | 613.4 |  |  |  | 390,054 |  |  | $ | 131.63 |  |  |  | 145,609 |  |  |  | $ | 170.75 |
Granted |  |  | 750,822 |  |  | $ | 189.29 |  |  |  |  |  |  |  | 162,378 |  |  | $ | 189.23 |  |  |  | 59,144 |  |  |  | $ | 210.07 |
Dividend reinvestment |  |  | — |  |  | $ | — |  |  |  |  |  |  |  | — |  |  | $ | — |  |  |  | 980 |  |  |  |  | N/A |
Exercised or lapsed |  |  | (1,146,422 | ) |  | $ | 73.30 |  |  | $ | 147.6 |  |  |  | (173,726 | ) |  | $ | 120.94 |  |  |  | (42,610 | ) |  |  | $ | 140.70 |
Canceled, expired or forfeited |  |  | (149,079 | ) |  | $ | 155.40 |  |  |  |  |  |  |  | (27,202 | ) |  | $ | 157.79 |  |  |  | — |  |  |  | $ | — |
Outstanding at December 31, 2021 |  |  | 5,067,098 |  |  | $ | 115.73 |  |  | $ | 572.6 |  |  |  | 351,504 |  |  | $ | 161.33 |  |  |  | 163,123 |  |  |  | $ | 192.99 |
Granted |  |  | 653,802 |  |  | $ | 196.64 |  |  |  |  |  |  |  | 201,617 |  |  | $ | 193.33 |  |  |  | 111,333 |  |  |  | $ | 168.63 |
Dividend reinvestment |  |  | — |  |  | $ | — |  |  |  |  |  |  |  | — |  |  | $ | — |  |  |  | 1,371 |  |  |  |  | N/A |
Exercised or lapsed |  |  | (1,435,673 | ) |  | $ | 92.38 |  |  | $ | 129.1 |  |  |  | (205,407 | ) |  | $ | 157.22 |  |  |  | (54,927 | ) |  |  | $ | 174.42 |
Canceled, expired or forfeited |  |  | (261,411 | ) |  | $ | 181.48 |  |  |  |  |  |  |  | (40,139 | ) |  | $ | 182.35 |  |  |  | (21,406 | ) |  |  | $ | 202.55 |
Outstanding at December 31, 2022 |  |  | 4,023,816 |  |  | $ | 132.90 |  |  | $ | 193.3 |  |  |  | 307,575 |  |  | $ | 182.07 |  |  |  | 199,494 |  |  |  | $ | 195.34 |
Granted |  |  | 211,945 |  |  | $ | 185.29 |  |  |  |  |  |  |  | 194,236 |  |  | $ | 185.22 |  |  |  | 48,486 |  |  |  | $ | 212.86 |
Dividend reinvestment |  |  | — |  |  | $ | — |  |  |  |  |  |  |  | — |  |  | $ | — |  |  |  | 1,142 |  |  |  |  | N/A |
Exercised or lapsed |  |  | (1,295,815 | ) |  | $ | 108.85 |  |  | $ | 118.1 |  |  |  | (178,602 | ) |  | $ | 179.39 |  |  |  | (45,997 | ) |  |  | $ | 192.93 |
Canceled, expired or forfeited |  |  | (227,436 | ) |  | $ | 187.56 |  |  |  |  |  |  |  | (32,170 | ) |  | $ | 183.25 |  |  |  | (21,889 | ) |  |  | $ | 207.27 |
Outstanding at December 31, 2023 |  |  | 2,712,510 |  |  | $ | 143.91 |  |  | $ | 257.6 |  |  |  | 291,039 |  |  | $ | 186.28 |  |  |  | 181,236 |  |  |  | $ | 199.62 |
Exercisable at December 31, 2023 |  |  | 1,947,253 |  |  | $ | 127.43 |  |  | $ | 217.0 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exercisable at December 31, 2022 |  |  | 2,702,075 |  |  | $ | 110.02 |  |  | $ | 182.6 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Nonvested at December 31, 2023 |  |  | 765,257 |  |  |  |  |  |  |  |  |  |  |  | 291,039 |  |  |  |  |  |  |  | 181,236 |  |  |  |  |  |
Expected to vest at December 31, 2023 |  |  | 643,367 |  |  |  |  |  |  |  |  |  |  |  | 252,146 |  |  |  |  |  |  |  | 223,629 |  | (1) |  |  |  |
Schedule of Share-Based Payment Award, Stock Options, Valuation Assumptions [Table Text Block] |
|  | 2023 |  |  | 2022 |  |  | 2021 |
Expected volatility |  |  | 27.28 | % |  |  | 25.33 | % |  |  | 23.66 | %
Risk-free interest rate |  |  | 3.77 | % |  |  | 1.55 | % |  |  | 0.39 | %
Expected term in years |  |  | 4.0 |  |  |  | 4.2 |  |  |  | 4.3 |
Dividend yield |  |  | 0.66 | % |  |  | 0.60 | % |  |  | 0.63 | %
Weighted average grant date fair value per stock option |  | $ | 48.14 |  |  | $ | 42.25 |  |  | $ | 35.15 |
Schedule of Nonvested Share Activity [Table Text Block] |
|  | Number of Options |  |  | Weighted Average Grant-Date Fair Value Per Share |
Nonvested balance at January 1, 2021 |  |  | 2,117,613 |  |  | $ | 23.39 |
Granted |  |  | 750,822 |  |  | $ | 35.15 |
Vested |  |  | (825,850 | ) |  | $ | 21.62 |
Cancelled or expired |  |  | (149,079 | ) |  | $ | 27.54 |
Nonvested balance at December 31, 2021 |  |  | 1,893,506 |  |  | $ | 28.49 |
Granted |  |  | 653,802 |  |  | $ | 42.25 |
Vested |  |  | (964,156 | ) |  | $ | 22.97 |
Cancelled or expired |  |  | (261,411 | ) |  | $ | 35.23 |
Nonvested balance at December 31, 2022 |  |  | 1,321,741 |  |  | $ | 34.65 |
Granted |  |  | 211,945 |  |  | $ | 52.69 |
Vested |  |  | (540,993 | ) |  | $ | 33.08 |
Cancelled or expired |  |  | (227,436 | ) |  | $ | 38.03 |
Nonvested balance at December 31, 2023 |  |  | 765,257 |  |  | $ | 39.74 |

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- Definition Tabular disclosure for stock option plans. Includes, but is not limited to, outstanding awards at beginning and end of year, grants, exercises, forfeitures, and weighted-average grant date fair value. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (d) -SubTopic 10 -Topic 718 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (e) -SubTopic 10 -Topic 718 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Tabular disclosure of the significant assumptions used during the year to estimate the fair value of stock options, including, but not limited to: (a) expected term of share options and similar instruments, (b) expected volatility of the entity's shares, (c) expected dividends, (d) risk-free rate(s), and (e) discount for post-vesting restrictions. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Topic 718 -SubTopic 10 -Subparagraph (f)(2) -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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