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Note 17 - Compensation Plans - Summary of Stock Activity (Details) - USD ($)
$ / shares in Units, $ in Millions
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Outstanding beginning balance, options (in shares) 4,023,816 5,067,098 5,611,777  
Outstanding beginning balance, options, weighted average exercise price (in dollars per share) $ 132.9 $ 115.73 $ 98.28  
Outstanding, options, aggregate intrinsic value $ 257.6 $ 193.3 $ 572.6 $ 613.4
Number of options, granted (in shares) 211,945 653,802 750,822  
Granted, options, weighted average exercise price (in dollars per share) $ 185.29 $ 196.64 $ 189.29  
Dividend reinvestment, options (in shares) 0 0 0  
Dividend reinvestment, options, weighted average exercise price (in (in dollars per share) $ 0 $ 0 $ 0  
Exercised or lapsed, options (in shares) (1,295,815) (1,435,673) (1,146,422)  
Exercised or lapsed, options, weighted average exercise price (in dollars per share) $ 108.85 $ 92.38 $ 73.3  
Exercised or lapsed, options, aggregate intrinsic value $ 118.1 $ 129.1 $ 147.6  
Canceled, expired or forfeited, option (in shares) (227,436) (261,411) (149,079)  
Canceled, expired or forfeited, options, weighted average exercise price (in dollars per share) $ 187.56 $ 181.48 $ 155.4  
Outstanding beginning balance, options, weighted average exercise price (in dollars per share) 143.91 132.9 115.73  
Outstanding beginning balance, options, weighted average exercise price (in dollars per share) $ 143.91 $ 132.9 $ 115.73 $ 98.28
Outstanding, option (in shares) 2,712,510 4,023,816 5,067,098  
Exercisable, options (in shares) 1,947,253 2,702,075    
Exercisable, options, weighted average exercise price (in dollars per share) $ 127.43 $ 110.02    
Exercisable, options, aggregate intrinsic value $ 217.0 $ 182.6    
Nonvested, options (in shares) 765,257 1,321,741 1,893,506 2,117,613
Expected to vest, options (in shares) 643,367      
Restricted Stock [Member]        
Outstanding beginning balance, number of shares (in shares) 307,575 351,504 390,054  
Outstanding beginning balance, weighted average exercise price (in dollars per share) $ 182.07 $ 161.33 $ 131.63  
Granted, number of shares (in shares) 194,236 201,617 162,378  
Granted, weighted average exercise price (in dollars per share) $ 185.22 $ 193.33 $ 189.23  
Dividend reinvestment, number of shares (in shares) 0 0 0  
Dividend reinvestment (in dollars per share) $ 0 $ 0 $ 0  
Exercised or lapsed, number of shares (in shares) (178,602) (205,407) (173,726)  
Exercised or lapsed, weighted average exercise price (in dollars per share) $ 179.39 $ 157.22 $ 120.94  
Canceled, expired or forfeited, number of shares (in shares) (32,170) (40,139) (27,202)  
Canceled, expired or forfeited, weighted average exercise price (in dollars per share) $ 183.25 $ 182.35 $ 157.79  
Outstanding ending balance, weighted average exercise price (in dollars per share) $ 186.28 $ 182.07 $ 161.33  
Outstanding ending balance, number of shares (in shares) 291,039 307,575 351,504 390,054
Outstanding ending balance, weighted average exercise price (in dollars per share) $ 186.28 $ 182.07 $ 161.33 $ 131.63
Outstanding ending balance, number of shares (in shares) 291,039 307,575 351,504  
Expected, number of shares (in shares) 252,146      
Performance Shares [Member]        
Outstanding beginning balance, number of shares (in shares) 199,494 163,123 145,609  
Outstanding beginning balance, weighted average exercise price (in dollars per share) $ 195.34 $ 192.99 $ 170.75  
Granted, number of shares (in shares) 48,486 111,333 59,144  
Granted, weighted average exercise price (in dollars per share) $ 212.86 $ 168.63 $ 210.07  
Dividend reinvestment, number of shares (in shares) 1,142 1,371 980  
Exercised or lapsed, number of shares (in shares) (45,997) (54,927) (42,610)  
Exercised or lapsed, weighted average exercise price (in dollars per share) $ 192.93 $ 174.42    
Canceled, expired or forfeited, number of shares (in shares) (21,889) (21,406) 0  
Canceled, expired or forfeited, weighted average exercise price (in dollars per share)   $ 202.55 $ 0  
Outstanding ending balance, weighted average exercise price (in dollars per share) $ 199.62 $ 195.34 $ 192.99  
Outstanding ending balance, number of shares (in shares) 181,236 199,494 163,123 145,609
Outstanding ending balance, weighted average exercise price (in dollars per share) $ 199.62 $ 195.34 $ 192.99 $ 170.75
Outstanding ending balance, number of shares (in shares) 181,236 199,494 163,123  
Expected, number of shares (in shares) [1] 223,629      
[1] Includes estimated performance achievement