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Note 17 - Compensation Plans - Stock Options Granted Weighted Average Assumptions (Details) - $ / shares
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Expected volatility 27.28% 25.33% 23.66%
Risk-free interest rate 3.77% 1.55% 0.39%
Expected term in years (Year) 4 years 4 years 2 months 12 days 4 years 3 months 18 days
Dividend yield 0.66% 0.60% 0.63%
Weighted average grant date fair value per stock option (in dollars per share) $ 48.14 $ 42.25 $ 35.15