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Note 15 - Stock-based Compensation (Details Textual) - USD ($) $ / shares in Units, $ in Millions |  |  |  |  |  |  |  |  |  | 1 Months Ended | 12 Months Ended |
--- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Nov. 08, 2017 | Aug. 04, 2017 | Jun. 07, 2017 | Nov. 08, 2016 | Jun. 13, 2016 | Nov. 03, 2015 | Nov. 05, 2014 | Apr. 02, 2014 | Feb. 11, 2014 | May 31, 2012 | Dec. 31, 2017 | Dec. 31, 2016 | Dec. 31, 2015 | Dec. 31, 2004 | Mar. 31, 2021
Employee Service Share-based Compensation, Nonvested Awards, Compensation Cost Not yet Recognized, Total |  |  |  |  |  |  |  |  |  |  | $ 7.7 |  |  |  |
Employee Service Share-based Compensation, Nonvested Awards, Compensation Cost Not yet Recognized, Period for Recognition |  |  |  |  |  |  |  |  |  |  | 1 year 73 days |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award Fair Value Assumptions Annual Forfeiture Rate |  |  |  |  |  |  |  |  |  |  | 1.10% | 10.30% | 9.66% |  |
Increase (Decrease) In Stock Based Compensation Expense Due To Forfeitures, Percent |  |  |  |  |  |  |  |  |  |  | (89.30%) | 7.00% | 20.00% |  |
Share Based Compensation Arrangement By Share Based Payment Award Fair Value Assumptions Dividends Growth Rate |  |  |  |  |  |  |  |  |  |  | 20.00% |  |  |  |
Sharebased Compensation Arrangement By Sharebased Payment Award Fair Value Assumptions Weighted Average Expected Dividend Rate |  |  |  |  |  |  |  |  |  |  | 0.60% |  |  |  |
Share Price |  |  |  |  |  |  |  |  |  |  | $ 63.96 | $ 53.62 |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Exercisable, Number |  |  |  |  |  |  |  |  |  |  | 431,387 | 557,350 |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Intrinsic Value |  |  |  |  |  |  |  |  |  |  | $ 38.9 | $ 18.0 |  |  |
Weighted Average [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share Price |  |  |  |  |  |  |  |  |  |  | $ 58.82 | $ 43.99 |  |  |
2004 Stock Incentive Plan [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant |  |  |  |  |  |  |  |  |  |  | 0 |  |  |  |
2004 Stock Incentive Plan [Member] | Stock Options And Stock Appreciation Rights [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized |  |  |  |  |  |  |  |  |  |  |  |  |  | 3,750,000 |
2004 Stock Incentive Plan [Member] | Stock Options And Stock Appreciation Rights [Member] | Share-based Compensation Award, Tranche One [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  |  |  |  |  |  |  |  |  |  |  |  |  | 25.00% |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period |  |  |  |  |  |  |  |  |  |  |  |  |  | 2 years |
2004 Stock Incentive Plan [Member] | Stock Options And Stock Appreciation Rights [Member] | Share-based Compensation Award, Tranche Two [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  |  |  |  |  |  |  |  |  |  |  |  |  | 25.00% |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period |  |  |  |  |  |  |  |  |  |  |  |  |  | 3 years |
2004 Stock Incentive Plan [Member] | Stock Options And Stock Appreciation Rights [Member] | Share-based Compensation Award, Tranche Three [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  |  |  |  |  |  |  |  |  |  |  |  |  | 50.00% |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period |  |  |  |  |  |  |  |  |  |  |  |  |  | 4 years |
2004 Stock Incentive Plan [Member] | Employee Stock Option [Member] | Non Employee Director [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period |  |  |  |  |  |  |  |  |  |  |  |  |  | 1 year |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period |  |  |  |  |  |  |  |  |  |  |  |  |  | 10 years |
2012 Stock Incentive Plan [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant |  |  |  |  |  |  |  |  |  |  | 894,437 |  |  |  |
2012 Stock Incentive Plan [Member] | Maximum [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period |  |  |  |  |  |  |  |  |  | 10 years |  |  |  |  |
2012 Stock Incentive Plan [Member] | Officer [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized |  |  |  |  |  |  |  |  |  | 400,000 |  |  |  |  |
2012 Stock Incentive Plan [Member] | Chief Financial Officer [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross |  |  |  |  |  |  |  |  | 32,500 |  |  |  |  |  |
Share-based Compensation Arrangements by Share-based Payment Award, Options, Grants in Period, Weighted Average Exercise Price |  |  |  |  |  |  |  |  | $ 24.57 |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value |  |  |  |  |  |  |  | $ 5.78 |  |  |  |  |  |  |
2012 Stock Incentive Plan [Member] | Chief Executive Officer [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross |  |  |  |  |  |  |  | 400,000 |  |  |  |  |  |  |
Share-based Compensation Arrangements by Share-based Payment Award, Options, Grants in Period, Weighted Average Exercise Price |  |  |  |  |  |  |  | $ 29.52 |  |  |  |  |  |  |
2012 Stock Incentive Plan [Member] | Director [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period |  |  |  |  |  |  | 1 year |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period |  |  |  |  |  |  | 7 years |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross |  | 30,000 |  |  |  | 45,000 | 52,500 |  |  |  |  |  |  |  |
Share-based Compensation Arrangements by Share-based Payment Award, Options, Grants in Period, Weighted Average Exercise Price |  | $ 57.97 |  |  |  | $ 38.24 | $ 28.23 |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value |  |  |  |  |  |  | $ 7.01 |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value |  |  |  |  |  | $ 8.68 |  |  |  |  |  |  |  |  |
2012 Stock Incentive Plan [Member] | Share-based Compensation Award, Tranche One [Member] | Chief Executive Officer [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period |  |  |  |  |  |  |  | 4 years |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period |  |  |  |  |  |  |  | 6 years |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross |  |  |  |  |  |  |  | 300,000 |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value |  |  |  |  |  |  |  | $ 12.88 |  |  |  |  |  |  |
2012 Stock Incentive Plan [Member] | Share-based Compensation Award, Tranche Two [Member] | Chief Executive Officer [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period |  |  |  |  |  |  |  | 7 years 182 days |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value |  |  |  |  |  |  |  | $ 8.33 |  |  |  |  |  |  |
2012 Stock Incentive Plan [Member] | Share-based Compensation Award, Tranche Two [Member] | Chief Executive Officer [Member] | Scenario, Forecast [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Outstanding, Number |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 100,000
2012 Stock Incentive Plan [Member] | Stock Options And Stock Appreciation Rights [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized |  |  |  |  |  |  |  |  |  | 4,000,000 |  |  |  |  |
2012 Stock Incentive Plan [Member] | Stock Options And Stock Appreciation Rights [Member] | Share-based Compensation Award, Tranche One [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  |  |  |  |  |  |  |  |  | 25.00% |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period |  |  |  |  |  |  |  |  |  | 2 years |  |  |  |  |
2012 Stock Incentive Plan [Member] | Stock Options And Stock Appreciation Rights [Member] | Share-based Compensation Award, Tranche Two [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  |  |  |  |  |  |  |  |  | 25.00% |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period |  |  |  |  |  |  |  |  |  | 3 years |  |  |  |  |
2012 Stock Incentive Plan [Member] | Stock Options And Stock Appreciation Rights [Member] | Share-based Compensation Award, Tranche Three [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  |  |  |  |  |  |  |  |  | 50.00% |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period |  |  |  |  |  |  |  |  |  | 4 years |  |  |  |  |
2012 Stock Incentive Plan [Member] | Employee Stock Option [Member] | Non Employee Director [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period |  |  |  |  |  |  |  |  |  | 1 year |  |  |  |  |
2012 Stock Incentive Plan [Member] | Employee Stock Option [Member] | Chief Financial Officer [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period |  |  |  |  |  |  |  |  | 3 years |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period |  |  |  |  |  |  |  |  | 5 years |  |  |  |  |  |
2012 Stock Incentive Plan [Member] | Employee Stock Option [Member] | Director [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period |  | 1 year |  |  |  | 1 year |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period |  | 7 years |  |  |  | 7 years |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value |  | $ 18.42 |  |  |  |  |  |  |  |  |  |  |  |  |
2012 Stock Incentive Plan [Member] | Stock Appreciation Rights (SARs) [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period |  |  |  |  | 4 years |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period |  |  | 5 years |  | 6 years |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value |  |  | $ 13.67 |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period |  |  | 23,200 |  | 1,080,000 |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period, Exercise Price |  |  | $ 58.79 |  | $ 42.87 |  |  |  |  |  |  |  |  |  |
2012 Stock Incentive Plan [Member] | Stock Appreciation Rights (SARs) [Member] | Director [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period |  |  |  | 1 year |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period |  |  |  | 7 years |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value | $ 17.60 |  |  | $ 14.51 |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period |  |  |  | 60,000 |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period, Exercise Price |  |  |  | $ 47.46 |  |  |  |  |  |  |  |  |  |  |
2012 Stock Incentive Plan [Member] | Stock Appreciation Rights (SARs) [Member] | Senior Management [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value | $ 17.70 |  |  |  | 11.98 |  |  |  |  |  |  |  |  |  |
2012 Stock Incentive Plan [Member] | Stock Appreciation Rights (SARs) [Member] | Other Employees [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value |  |  |  |  | $ 11.42 |  |  |  |  |  |  |  |  |  |
2012 Stock Incentive Plan [Member] | Stock Appreciation Rights (SARs) [Member] | Directors and Senior Management [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period | 108,771 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period, Exercise Price | $ 63.35 |  |  |  |  |  |  |  |  |  |  |  |  |  |
2012 Stock Incentive Plan [Member] | Stock Appreciation Rights (SARs) [Member] | Share-based Compensation Award, Tranche One [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  |  | 50.00% |  | 50.00% |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period |  |  |  |  | 2 years |  |  |  |  |  |  |  |  |  |
2012 Stock Incentive Plan [Member] | Stock Appreciation Rights (SARs) [Member] | Share-based Compensation Award, Tranche Two [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  |  | 25.00% |  | 25.00% |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period |  |  |  |  | 3 years |  |  |  |  |  |  |  |  |  |
2012 Stock Incentive Plan [Member] | Stock Appreciation Rights (SARs) [Member] | Share-based Compensation Award, Tranche Three [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  |  | 25.00% |  | 25.00% |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period |  |  |  |  | 4 years |  |  |  |  |  |  |  |  |  |
2012 Stock Incentive Plan [Member] | Restricted Stock Units (RSUs) [Member] | Director [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value | 62.90 |  |  |  |  |  |  |  |  |  |  |  |  |  |
2012 Stock Incentive Plan [Member] | Restricted Stock Units (RSUs) [Member] | Senior Management [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value | $ 62.30 |  |  |  |  |  |  |  |  |  |  |  |  |  |
2012 Stock Incentive Plan [Member] | Restricted Stock Units (RSUs) [Member] | Directors and Senior Management [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period | 22,742 |  |  |  |  |  |  |  |  |  |  |  |  |  |
2012 Stock Incentive Plan [Member] | SARs and RSUs [Member] | Directors and Senior Management [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period | 6 years |  |  |  |  |  |  |  |  |  |  |  |  |  |
2012 Stock Incentive Plan [Member] | SARs and RSUs [Member] | Vesting After the First Year from the Grant Date [Member] | Director [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage | 100.00% |  |  |  |  |  |  |  |  |  |  |  |  |  |
2012 Stock Incentive Plan [Member] | SARs and RSUs [Member] | Vesting Each Year [Member] | Senior Management [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage | 25.00% |  |  |  |  |  |  |  |  |  |  |  |  |  |

X
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- Definition Share based compensation arrangement by share based payment award fair value assumptions dividends growth rate. + References No definition available. + Details
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- Definition Represents the exercise price of shares granted in period. + References No definition available. + Details
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- Definition Unrecognized cost of unvested share-based compensation awards. + 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 (i) -URI http://asc.fasb.org/extlink&oid=109197908&loc=d3e5070-113901 + Details
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- Definition Weighted average period over which unrecognized compensation is expected to be recognized for equity-based compensation plans, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the 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 (i) -URI http://asc.fasb.org/extlink&oid=109197908&loc=d3e5070-113901 + Details
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- Definition Period which an employee's right to exercise an award is no longer contingent on satisfaction of either a service condition, market condition or a performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the 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 (a)(1) -URI http://asc.fasb.org/extlink&oid=109197908&loc=d3e5070-113901 + Details
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- Definition The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + 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 (c)(2)(iii)(1) -URI http://asc.fasb.org/extlink&oid=109197908&loc=d3e5070-113901 + Details
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- Definition Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into 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 (d)(2) -URI http://asc.fasb.org/extlink&oid=109197908&loc=d3e5070-113901 + Details
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