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Note 8 - Stock-based Compensation (Details Textual)
$ / shares in Units, $ in Thousands
1 Months Ended 12 Months Ended 61 Months Ended
Jun. 11, 2020
shares
Jan. 01, 2020
Jul. 31, 2020
USD ($)
$ / shares
shares
Feb. 29, 2020
USD ($)
$ / shares
shares
Feb. 28, 2019
USD ($)
$ / shares
shares
Oct. 31, 2018
USD ($)
$ / shares
shares
Feb. 28, 2018
USD ($)
$ / shares
shares
Dec. 31, 2015
$ / shares
shares
Dec. 31, 2020
USD ($)
$ / shares
shares
Dec. 31, 2019
USD ($)
$ / shares
shares
Dec. 31, 2018
USD ($)
$ / shares
shares
Dec. 31, 2015
USD ($)
$ / shares
Dec. 31, 2020
USD ($)
$ / shares
shares
Nov. 13, 2014
shares
Proceeds, Issuance of Shares, Share-based Payment Arrangement, Excluding Option Exercised | $                 $ 18,767 $ 16,650 $ 10,637      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)                 703,000 564,000 1,363,000      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share) | $ / shares                 $ 175.12 $ 103.68 $ 80.62      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares)                 1,623,000 1,083,000 853,000      
Share-based Payment Arrangement, Expense | $                 $ 85,551 $ 78,699 $ 60,607      
Proceeds from Stock Plans | $                 3,819 3,277 3,028      
Restricted Stock Units (RSUs) [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Aggregate Intrinsic Value, Vested | $                 326,200 138,300 90,000      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Aggregate Intrinsic Value, Outstanding | $                 $ 1,100,000       $ 1,100,000  
Share Price (in dollars per share) | $ / shares                 $ 366.23       $ 366.23  
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total | $                 $ 136,300       $ 136,300  
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)                 2 years 2 months 12 days          
Proceeds, Issuance of Shares, Share-based Payment Arrangement, Excluding Option Exercised | $                 $ 18,800 $ 16,600 $ 10,600      
Time-Based RSUs [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)                 76,000 52,000 133,000      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share) | $ / shares                 $ 189.28 $ 141.32 $ 114.36      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares)                 86,000 103,000 136,000      
Time-Based RSUs [Member] | Employees [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)                 4 years          
Time-Based RSUs [Member] | Director [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)                 1 year          
PSU 2020 [Member]                            
Share Price (in dollars per share) | $ / shares       $ 182.62                    
Share-based Compensation Arrangement by Share-based Payment Award, Price Per Share Payable Upon Vesting of Equity Instruments Other than Options (in dollars per share) | $ / shares       30                    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share) | $ / shares       $ 182.62                    
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Term (Year)       2 years                    
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Volatility Rate       33.60%                    
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Risk Free Interest Rate       1.40%                    
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Dividend Rate       1.10%                    
PSU 2020 [Member] | Executive Officer [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)       100,000                    
Share-based Compensation Arrangement by Share-based Payment Award, Vesting, Measurement Period of Relative Revenue Growth Rate to Industry Average (Year)       2 years                    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Maximum Percentage Allowed       300.00%                    
Maximum Stock Compensation Costs | $       $ 51,100                    
PSU 2020 [Member] | Executive Officer [Member] | Vesting First Quarter of 2022 if Performance Conditions are Met [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage       50.00%                    
PSU 2020 [Member] | Non-Executive Employees [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)       30,000                    
Share-based Compensation Arrangement by Share-based Payment Award, Vesting, Measurement Period of Relative Revenue Growth Rate to Industry Average (Year)       2 years                    
Maximum Stock Compensation Costs | $       $ 12,800                    
PSU 2020 [Member] | Non-Executive Employees [Member] | Minimum [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Minimum Percentage Allowed       200.00%                    
PSU 2020 [Member] | Non-Executive Employees [Member] | Maximum [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Maximum Percentage Allowed       300.00%                    
PSU 2020 [Member] | Non-Executive Employees [Member] | Vesting First Quarter of 2020 if Performance Conditions are Met [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage       50.00%                    
PSU 2020 [Member] | Non-Executive Employees [Member] | Annual or Quarterly Vesting of Awards Not Based on Performance [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)       2 years                    
MPSUs 2020 [Member]                            
Share Price (in dollars per share) | $ / shares                 $ 248.71       $ 248.71  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Maximum Percentage Allowed     500.00%                      
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Term (Year)                 4 years          
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Volatility Rate                 38.80%          
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Risk Free Interest Rate                 0.20%          
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Dividend Rate                 0.80%          
Share-based Compensation Arrangement by Share-based Payment Award, Number of Price Targets     5                      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares)                 221,000          
Share-based Payment Arrangement, Expense | $     $ 42,100                      
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Discount for Postvesting Restrictions                 8.90%          
MPSUs 2020 [Member] | Minimum [Member]                            
Share Based Compensation Arrangement By Share Based Payment Award, Stock Price Target (in dollars per share) | $ / shares     $ 260                      
MPSUs 2020 [Member] | Maximum [Member]                            
Share Based Compensation Arrangement By Share Based Payment Award, Stock Price Target (in dollars per share) | $ / shares     $ 300                      
MPSUs 2020 [Member] | Vest on July, 2023 [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage     75.00%                      
MPSUs 2020 [Member] | Vest on July 20, 2024 [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage     25.00%                      
MPSUs 2020 [Member] | Executive Officer [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)     43,000                      
MPSUs 2020 [Member] | Key Employees [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)     2,000                      
PSU 2019 [Member]                            
Share Price (in dollars per share) | $ / shares         $ 130.67 $ 108.43                
Share-based Compensation Arrangement by Share-based Payment Award, Price Per Share Payable Upon Vesting of Equity Instruments Other than Options (in dollars per share) | $ / shares         $ 30                  
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Term (Year)         2 years 7 months 6 days 2 years 10 months 24 days                
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Volatility Rate         29.00% 28.70%                
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Risk Free Interest Rate         2.50% 2.90%                
PSU 2019 [Member] | Executive Officer [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)         151,000       454,000          
Share-based Compensation Arrangement by Share-based Payment Award, Vesting, Measurement Period of Relative Revenue Growth Rate to Industry Average (Year)         2 years                  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Maximum Percentage Allowed         300.00%                  
Maximum Stock Compensation Costs | $         $ 46,600                  
PSU 2019 [Member] | Executive Officer [Member] | Vesting First Quarter of 2021 if Performance Conditions are Met [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage         50.00%                  
PSU 2019 [Member] | Executive Officer [Member] | Vesting Over Two Years Following First Quarter of 2021 on Quarterly Basis [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage         50.00%                  
PSU 2019 [Member] | Non-Executive Employees [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)           53,000     100,000          
Share-based Compensation Arrangement by Share-based Payment Award, Vesting, Measurement Period of Relative Revenue Growth Rate to Industry Average (Year)           2 years                
Maximum Stock Compensation Costs | $           $ 8,100                
Share-based Compensation Arrangement by Share-based Payment Award, Price Per Share Payable Upon Vesting of Equity Instruments Other than Options (in dollars per share) | $ / shares           $ 30                
PSU 2019 [Member] | Non-Executive Employees [Member] | Minimum [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Minimum Percentage Allowed           200.00%                
PSU 2019 [Member] | Non-Executive Employees [Member] | Maximum [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Maximum Percentage Allowed           300.00%                
PSU 2019 [Member] | Non-Executive Employees [Member] | Vesting First Quarter of 2021 if Performance Conditions are Met [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage           50.00%                
PSU 2019 [Member] | Non-Executive Employees [Member] | Vesting Over Two Years Following First Quarter of 2021 on an Annual or Quarterly Basis [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage           50.00%                
PSU 2018 [Member]                            
Share Price (in dollars per share) | $ / shares             $ 110.00              
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Term (Year)             2 years 7 months 6 days              
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Volatility Rate             27.50%              
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Risk Free Interest Rate             2.30%              
PSU 2018 [Member] | Executive Officer [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)             188,000   558,000          
Share-based Compensation Arrangement by Share-based Payment Award, Vesting, Measurement Period of Relative Revenue Growth Rate to Industry Average (Year)             2 years              
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Maximum Percentage Allowed             300.00%              
Maximum Stock Compensation Costs | $             $ 45,600              
PSU 2018 [Member] | Executive Officer [Member] | Vesting First Quarter of 2020 if Performance Conditions are Met [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage             50.00%              
PSU 2018 [Member] | Executive Officer [Member] | Vesting Over Two Years Following First Quarter of 2020 on Quarterly or Annual Basis [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage             50.00%              
PSU 2018 [Member] | Non-Executive Employees [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)             44,000   75,000          
Share-based Compensation Arrangement by Share-based Payment Award, Vesting, Measurement Period of Relative Revenue Growth Rate to Industry Average (Year)             2 years              
Maximum Stock Compensation Costs | $             $ 6,000              
Share-based Compensation Arrangement by Share-based Payment Award, Price Per Share Payable Upon Vesting of Equity Instruments Other than Options (in dollars per share) | $ / shares             $ 30              
PSU 2018 [Member] | Non-Executive Employees [Member] | Minimum [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Minimum Percentage Allowed             200.00%              
PSU 2018 [Member] | Non-Executive Employees [Member] | Maximum [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Minimum Percentage Allowed             300.00%              
PSU 2018 [Member] | Non-Executive Employees [Member] | Vesting First Quarter of 2020 if Performance Conditions are Met [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage             50.00%              
PSU 2018 [Member] | Non-Executive Employees [Member] | Vesting Over Two Years Following First Quarter of 2020 on an Annual or Quarterly Basis [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage             50.00%              
2015 MPSUs [Member]                            
Share Price (in dollars per share) | $ / shares               $ 61.35       $ 61.35    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Maximum Percentage Allowed               500.00%            
Maximum Stock Compensation Costs | $                       $ 24,600    
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Volatility Rate                       33.20%    
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Risk Free Interest Rate                       1.30%    
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Discount for Postvesting Restrictions                       7.80%    
Number of MPSU Tranches               4            
Total MSUs Earned (in shares)                         600,000  
Share-based Compensation Arrangement by Share-based Payment Award, Post-Award Vesting Period, Restriction Period on Sales (Year)   2 years                        
2015 MPSUs [Member] | Share-based Payment Arrangement, Tranche One [Member]                            
Maximum Stock Compensation Costs | $                       $ 8,300    
Share-based Compensation Arrangement by Share-based Payment Award, Number of Price Targets               5       5    
2015 MPSUs [Member] | Share-based Payment Arrangement, Tranche One [Member] | Minimum [Member]                            
Market Awards Price Targets (in dollars per share) | $ / shares               $ 71.36            
2015 MPSUs [Member] | Share-based Payment Arrangement, Tranche One [Member] | Maximum [Member]                            
Market Awards Price Targets (in dollars per share) | $ / shares               $ 95.57            
2015 MPSUs [Member] | Second, Third, and Fourth Tranches [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Number of Price Targets               5       5    
Total number of performance conditions               6            
2015 MPSUs [Member] | Share-based Payment Arrangement, Tranche Two [Member]                            
Maximum Stock Compensation Costs | $                       $ 4,500    
2015 MPSUs [Member] | Share-based Payment Arrangement, Tranche Two [Member] | Minimum [Member]                            
Market Awards Price Targets (in dollars per share) | $ / shares               $ 89.56            
2015 MPSUs [Member] | Share-based Payment Arrangement, Tranche Two [Member] | Maximum [Member]                            
Market Awards Price Targets (in dollars per share) | $ / shares               106.81            
2015 MPSUs [Member] | Share-based Payment Arrangement, Tranche Three [Member]                            
Maximum Stock Compensation Costs | $                       5,200    
2015 MPSUs [Member] | Share-based Payment Arrangement, Tranche Three [Member] | Minimum [Member]                            
Market Awards Price Targets (in dollars per share) | $ / shares               120.80            
2015 MPSUs [Member] | Share-based Payment Arrangement, Tranche Three [Member] | Maximum [Member]                            
Market Awards Price Targets (in dollars per share) | $ / shares               135.48            
2015 MPSUs [Member] | Share-based Compensation Award, Tranche Four [Member]                            
Maximum Stock Compensation Costs | $                       $ 6,600    
2015 MPSUs [Member] | Share-based Compensation Award, Tranche Four [Member] | Minimum [Member]                            
Market Awards Price Targets (in dollars per share) | $ / shares               126.08            
2015 MPSUs [Member] | Share-based Compensation Award, Tranche Four [Member] | Maximum [Member]                            
Market Awards Price Targets (in dollars per share) | $ / shares               $ 136.79            
2015 MPSUs [Member] | Executive Officer [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)               86,000            
2015 MPSUs [Member] | Non-Executive Employees [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)               41,000            
MSUs 2018 [Member]                            
Share Price (in dollars per share) | $ / shares           $ 108.43                
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Maximum Percentage Allowed           500.00%                
Maximum Stock Compensation Costs | $           $ 39,900                
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Volatility Rate           31.60%                
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Risk Free Interest Rate           3.00%                
Share-based Compensation Arrangement by Share-based Payment Award, Number of Price Targets           5                
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Discount for Postvesting Restrictions           8.70%                
Total MSUs Earned (in shares)                   600,000        
Share-based Compensation Arrangement by Share-based Payment Award, Post-Award Vesting Period, Restriction Period on Sales (Year)           2 years                
MSUs 2018 [Member] | Minimum [Member]                            
Market Awards Price Targets (in dollars per share) | $ / shares           $ 140                
MSUs 2018 [Member] | Maximum [Member]                            
Market Awards Price Targets (in dollars per share) | $ / shares           $ 172                
MSUs 2018 [Member] | Executive Officer [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)           60,000                
MSUs 2018 [Member] | Non-Executive Employees [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)           60,000                
2013 MSU's [Member]                            
Share Price (in dollars per share) | $ / shares           $ 31.73                
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Maximum Percentage Allowed           500.00%                
Maximum Stock Compensation Costs | $           $ 38,200                
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Volatility Rate           38.70%                
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Risk Free Interest Rate           1.60%                
Share-based Compensation Arrangement by Share-based Payment Award, Number of Price Targets           5                
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Discount for Postvesting Restrictions           0.00%                
Total MSUs Earned (in shares)           1,800,000                
2013 MSU's [Member] | Minimum [Member]                            
Market Awards Price Targets (in dollars per share) | $ / shares           $ 40                
2013 MSU's [Member] | Maximum [Member]                            
Market Awards Price Targets (in dollars per share) | $ / shares           $ 56                
2013 MSU's [Member] | Executive Officer [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)           276,000                
2013 MSU's [Member] | Non-Executive Employees [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)           84,000                
The2014 Plan [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized (in shares)                           5,500,000
Amended and Restated 2014 Plan [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Number of Additional Shares Authorized (in shares) 10,500,000                          
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant (in shares)                 6,000,000.0       6,000,000.0  
Employee Stock Purchase Plan [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant (in shares)                 4.5       4.5  
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total | $                 $ 200       $ 200  
Share-based Compensation Arrangement by Share-based Payment Award, Maximum Number of Shares Per Employee (in shares)                 2,000          
Share-based Compensation Arrangement by Share-based Payment Award, Maximum Number of Shares per Employee Value (in shares)                 25,000          
Share-based Compensation Arrangement by Share-based Payment Award, Automatic Increase Shares (in shares)                 1,000,000          
Share-basedCompensation Arrangement by Share-based Payment Award, Other Than Options, Percent Increases in Period                 2.00%          
Stock Issued During Period, Shares, Employee Stock Purchase Plans (in shares)                 28,000 28,000 33,000      
Employee Stock Purchase Plan Shares Issued, Intrinsic Value | $                 $ 2,500 $ 700 $ 1,100      
Proceeds from Stock Plans | $                 $ 3,800 $ 3,300 $ 3,000