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Note 1 - Nature of Business and Significant Accounting Policies - Option Pricing Model Valuation Assumptions (Details) - $ / shares | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Expected life of option grants (Year) | 10 years |  |
Weighted-average grant date fair value (in dollars per share) | $ 13.97 | $ 10.85 | $ 10.07
Employee Stock Option |  |  |
Dividend yield |  | 0.55% |
Expected volatility |  | 23.57% |
Risk-free interest rate |  | 1.62% |
Expected life of option grants (Year) | 6 years 3 months | 6 years 3 months | 6 years 3 months
Weighted-average grant date fair value (in dollars per share) |  | $ 10.85 | $ 10.07
Employee Stock Option | Minimum |  |  |
Dividend yield |  |  | 0.60%
Expected volatility | 22.65% |  | 25.49%
Risk-free interest rate | 1.87% |  | 0.79%
Employee Stock Option | Maximum |  |  |
Dividend yield | 0.45% |  | 0.81%
Expected volatility | 23.52% |  | 25.70%
Risk-free interest rate | 3.12% |  | 1.31%
Stock Purchase Grants [Member] |  |  |
Weighted-average grant date fair value (in dollars per share) | $ 7.88 | $ 7.67 | $ 6.03
Stock Purchase Grants [Member] | Minimum |  |  |
Dividend yield | 0.43% | 0.49% | 0.55%
Expected volatility | 17.97% | 37.51% | 24.59%
Risk-free interest rate | 0.14% | 0.00% | 0.15%
Expected life of option grants (Year) | 3 months | 3 months | 3 months
Weighted-average grant date fair value (in dollars per share) | $ 13.94 |  |
Stock Purchase Grants [Member] | Maximum |  |  |
Dividend yield | 0.44% | 0.61% | 0.81%
Expected volatility | 21.16% | 38.65% | 36.38%
Risk-free interest rate | 2.24% | 0.06% | 1.65%
Expected life of option grants (Year) | 6 months | 6 months | 6 months
Weighted-average grant date fair value (in dollars per share) | $ 15.09 |  |

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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://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2)(iii) -URI https://asc.fasb.org/extlink&oid=128089324&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://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2)(ii) -URI https://asc.fasb.org/extlink&oid=128089324&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://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2)(iv) -URI https://asc.fasb.org/extlink&oid=128089324&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://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d)(1) -URI https://asc.fasb.org/extlink&oid=128089324&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://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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