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Note 1 - Nature of Business and Significant Accounting Policies - Option Pricing Model Valuation Assumptions (Details) - $ / shares | 12 Months Ended
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Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
Expected life of option grants (Year) | 10 years |  |
Weighted-average grant date fair value (in dollars per share) | $ 11.29 | $ 14.68 | $ 14.75
Employee Stock Option |  |  |
Dividend yield | 0.67% |  |
Expected volatility | 28.28% |  |
Risk-free interest rate | 2.90% |  |
Expected life of option grants (Year) | 6 years 3 months | 6 years | 6 years
Weighted-average grant date fair value (in dollars per share) | $ 11.29 | $ 14.68 | $ 14.75
Employee Stock Option | Minimum |  |  |
Dividend yield |  | 0.45% | 0.36%
Expected volatility |  | 29.51% | 29.64%
Risk-free interest rate |  | 2.60% | 2.50%
Employee Stock Option | Maximum |  |  |
Dividend yield |  | 0.48% | 0.47%
Expected volatility |  | 29.59% | 29.95%
Risk-free interest rate |  | 2.94% | 2.81%
Stock Purchase Grants [Member] |  |  |
Weighted-average grant date fair value (in dollars per share) | $ 4.81 | $ 6.63 | $ 6.42
Stock Purchase Grants [Member] | Minimum |  |  |
Dividend yield | 0.69% | 0.37% | 0.37%
Expected volatility | 20.15% | 20.90% | 19.80%
Risk-free interest rate | 2.02% | 1.59% | 0.67%
Expected life of option grants (Year) | 3 months | 3 months | 3 months
Stock Purchase Grants [Member] | Maximum |  |  |
Dividend yield | 0.75% | 0.51% | 0.42%
Expected volatility | 21.06% | 21.40% | 19.86%
Risk-free interest rate | 2.46% | 2.22% | 1.18%
Expected life of option grants (Year) | 6 months | 6 months | 6 months

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- Definition The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2)(iii) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition The estimated measure of the percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2)(ii) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition The risk-free interest rate assumption that is used in valuing an option on its own shares. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2)(iv) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d)(1) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition Expected term of award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2)(i) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 14.D.2) -URI http://asc.fasb.org/extlink&oid=115993241&loc=d3e301413-122809 + Details
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