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Note 18 - Share-based Compensation (Tables) | 12 Months Ended
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Dec. 31, 2020
Notes Tables |
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions [Table Text Block] |
|  | 2020 |  |  | 2019 |  |  | 2018 |
Expected volatility |  |  | 27 - 32 | % |  |  | 26 - 27 | % |  |  | 25 | %
Weighted-average expected volatility |  |  | 27 | % |  |  | 26 | % |  |  | 25 | %
Expected dividend yield |  |  | 1.3 | % |  |  | 1.2 - 1.4 | % |  |  | 1.2 | %
Weighted-average expected dividend yield |  |  | 1.3 | % |  |  | 1.2 | % |  |  | 1.2 | %
Expected term, in years |  |  | 5 |  |  |  | 5 |  |  |  | 5 |
Risk-free interest rate |  |  | 0.3 - 1.3 | % |  |  | 1.6 - 2.5 | % |  |  | 2.6 - 2.9 | %
Share-based Payment Arrangement, Option, Activity [Table Text Block] |
|  | Shares |  |  | Weighted-Average Exercise Price |
Outstanding at beginning of year |  |  | 1,071,777 |  |  | $ | 60.01 |
Granted |  |  | 76,251 |  |  |  | 81.20 |
Exercised |  |  | (110,595 | ) |  |  | 44.29 |
Forfeited |  |  | (42,083 | ) |  |  | 70.83 |
Expired |  |  | (4,687 | ) |  | $ | 68.01 |
Outstanding at end of year |  |  | 990,663 |  |  | $ | 62.90 |
Exercisable at end of year |  |  | 767,655 |  |  | $ | 61.04 |
Nonvested Restricted Stock Shares Activity [Table Text Block] |
|  | Shares |  |  | Weighted-Average Grant Date Fair Value |
Nonvested at beginning of year |  |  | 93,599 |  |  | $ | 54.27 |
Granted |  |  | 17,348 |  |  |  | 81.07 |
Vested |  |  | (10,038 | ) |  |  | 73.20 |
Forfeited |  |  | (6,866 | ) |  |  | 73.19 |
Nonvested at end of year |  |  | 94,043 |  |  | $ | 55.81 |
Schedule of Nonvested Performance-based Units Activity [Table Text Block] |
|  | Shares |  |  | Weighted-Average Grant Date Fair Value |
Nonvested at beginning of year |  |  | 120,714 |  |  | $ | 67.45 |
Granted |  |  | 55,142 |  |  |  | 76.66 |
Vested |  |  | (29,595 | ) |  |  | 72.82 |
Forfeited |  |  | (22,042 | ) |  |  | 70.72 |
Nonvested at end of year |  |  | 124,219 |  |  | $ | 69.68 |
Schedule of Nonvested Restricted Stock Units Activity [Table Text Block] |
|  | Shares |  |  | Weighted-Average Grant Date Fair Value |
Nonvested at beginning of year |  |  | 103,287 |  |  | $ | 64.72 |
Granted |  |  | 42,248 |  |  |  | 69.93 |
Vested |  |  | (37,389 | ) |  |  | 70.46 |
Forfeited |  |  | (10,661 | ) |  |  | 63.11 |
Nonvested at end of year |  |  | 97,485 |  |  | $ | 64.95 |

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