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Note 14 - Stock Option Plans - Summary of Exercise Prices, Weighted Average Remaining Contractual Life and Intrinsic Values of Outstanding Options (Details)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2021
USD ($)
$ / shares
shares
Number outstanding (in shares) | shares 904,151
Weighted average exercise price per share, options outstanding (in dollars per share) $ 64.36
Weighted average remaining contractual life, options outstanding (Year) 4 years 6 months
Aggregate intrinsic value, options outstanding | $ $ 17,596
Number exercisable (in shares) | shares 415,925
Weighted average exercise price per share, options exercisable (in dollars per share) $ 56.44
Weighted average remaining contractual life, options exercisable (Year) 3 years 1 month 6 days
Aggregate intrinsic value, options exercisable | $ $ 11,388
Exercise Price Range 01 [Member]  
Exercise price - lower (in dollars per share) $ 19.95
Exercise price - higher (in dollars per share) $ 19.95
Number outstanding (in shares) | shares 7,000
Weighted average exercise price per share, options outstanding (in dollars per share) $ 19.95
Weighted average remaining contractual life, options outstanding (Year) 1 year 1 month 6 days
Aggregate intrinsic value, options outstanding | $ $ 447
Number exercisable (in shares) | shares 7,000
Weighted average exercise price per share, options exercisable (in dollars per share) $ 19.95
Weighted average remaining contractual life, options exercisable (Year) 1 year 1 month 6 days
Aggregate intrinsic value, options exercisable | $ $ 447
Exercise Price Range 02 [Member]  
Exercise price - lower (in dollars per share) $ 21.10
Exercise price - higher (in dollars per share) $ 21.10
Number outstanding (in shares) | shares 20,892
Weighted average exercise price per share, options outstanding (in dollars per share) $ 21.10
Weighted average remaining contractual life, options outstanding (Year) 1 year
Aggregate intrinsic value, options outstanding | $ $ 1,310
Number exercisable (in shares) | shares 20,892
Weighted average exercise price per share, options exercisable (in dollars per share) $ 21.10
Weighted average remaining contractual life, options exercisable (Year) 1 year
Aggregate intrinsic value, options exercisable | $ $ 1,310
Exercise Price Range 03 [Member]  
Exercise price - lower (in dollars per share) $ 46.90
Exercise price - higher (in dollars per share) $ 48.00
Number outstanding (in shares) | shares 12,000
Weighted average exercise price per share, options outstanding (in dollars per share) $ 47.31
Weighted average remaining contractual life, options outstanding (Year) 4 years
Aggregate intrinsic value, options outstanding | $ $ 438
Number exercisable (in shares) | shares 6,000
Weighted average exercise price per share, options exercisable (in dollars per share) $ 47.17
Weighted average remaining contractual life, options exercisable (Year) 2 years 8 months 12 days
Aggregate intrinsic value, options exercisable | $ $ 220
Exercise Price Range 04 [Member]  
Exercise price - lower (in dollars per share) $ 51.82
Exercise price - higher (in dollars per share) $ 59.98
Number outstanding (in shares) | shares 227,340
Weighted average exercise price per share, options outstanding (in dollars per share) $ 55.59
Weighted average remaining contractual life, options outstanding (Year) 2 years 7 months 6 days
Aggregate intrinsic value, options outstanding | $ $ 6,418
Number exercisable (in shares) | shares 215,315
Weighted average exercise price per share, options exercisable (in dollars per share) $ 55.58
Weighted average remaining contractual life, options exercisable (Year) 2 years 6 months
Aggregate intrinsic value, options exercisable | $ $ 6,080
Exercise Price Range 05 [Member]  
Exercise price - lower (in dollars per share) $ 60.01
Exercise price - higher (in dollars per share) $ 68.41
Number outstanding (in shares) | shares 345,294
Weighted average exercise price per share, options outstanding (in dollars per share) $ 62.02
Weighted average remaining contractual life, options outstanding (Year) 4 years 7 months 6 days
Aggregate intrinsic value, options outstanding | $ $ 7,528
Number exercisable (in shares) | shares 154,018
Weighted average exercise price per share, options exercisable (in dollars per share) $ 63.11
Weighted average remaining contractual life, options exercisable (Year) 4 years 2 months 12 days
Aggregate intrinsic value, options exercisable | $ $ 3,189
Exercise Price Range 06 [Member]  
Exercise price - lower (in dollars per share) $ 72.50
Exercise price - higher (in dollars per share) $ 79.51
Number outstanding (in shares) | shares 275,125
Weighted average exercise price per share, options outstanding (in dollars per share) $ 78.68
Weighted average remaining contractual life, options outstanding (Year) 6 years 2 months 12 days
Aggregate intrinsic value, options outstanding | $ $ 1,413
Number exercisable (in shares) | shares 12,700
Weighted average exercise price per share, options exercisable (in dollars per share) $ 72.61
Weighted average remaining contractual life, options exercisable (Year) 5 years 10 months 24 days
Aggregate intrinsic value, options exercisable | $ $ 142
Exercise Price Range 07 [Member]  
Exercise price - lower (in dollars per share) $ 80.61
Exercise price - higher (in dollars per share) $ 82.07
Number outstanding (in shares) | shares 16,500
Weighted average exercise price per share, options outstanding (in dollars per share) $ 81.27
Weighted average remaining contractual life, options outstanding (Year) 6 years 9 months 18 days
Aggregate intrinsic value, options outstanding | $ $ 42
Number exercisable (in shares) | shares 0
Weighted average exercise price per share, options exercisable (in dollars per share) $ 0
Aggregate intrinsic value, options exercisable | $ $ 0