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Note 14 - Stock-based Compensation (Details Textual) - USD ($)
$ / shares in Units, $ in Millions
1 Months Ended 3 Months Ended 12 Months Ended
May 07, 2018
May 31, 2023
Mar. 31, 2023
Nov. 30, 2022
Jun. 30, 2022
Nov. 30, 2021
May 31, 2012
Mar. 31, 2022
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount                 $ 15.8    
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)                 1 year 3 months    
Share Based Compensation Arrangement By Share Based Payment Award Fair Value Assumptions Annual Forfeiture Rate                 11.60% 11.50% 11.10%
Increase (Decrease) In Stock Based Compensation Expense Due To Forfeitures, Percent                 0.90% 3.60% 2.80%
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-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant (in shares)                 3,313,670    
Share Price (in dollars per share)                 $ 75.79 $ 86.48  
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Vested and Expected to Vest, Exercisable, Number (in shares)                 605,753 749,101  
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Exercises in Period, Intrinsic Value                 $ 11.5 $ 21.9  
Weighted Average [Member]                      
Share Price (in dollars per share)                 $ 79.4 $ 82.8  
2012 Stock Incentive Plan [Member] | Minimum [Member]                      
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year)             6 years        
2012 Stock Incentive Plan [Member] | Maximum [Member]                      
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year)             10 years        
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 (in shares)             4,000,000        
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)             1 year        
2012 Stock Incentive Plan [Member] | Stock Options And Stock Appreciation Rights [Member] | Share-Based Payment Arrangement, Tranche One [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 (Year)             2 years        
2012 Stock Incentive Plan [Member] | Stock Options And Stock Appreciation Rights [Member] | Share-Based Payment Arrangement, Tranche One [Member] | Director [Member]                      
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage             100.00%        
2012 Stock Incentive Plan [Member] | Stock Options And Stock Appreciation Rights [Member] | Share-Based Payment Arrangement, 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 (Year)             3 years        
2012 Stock Incentive Plan [Member] | Stock Options And Stock Appreciation Rights [Member] | Share-Based Payment Arrangement, Tranche Three [Member]                      
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)             4 years        
2012 Stock Incentive Plan [Member] | Stock Options And Stock Appreciation Rights [Member] | Share-based Compensation Award, Tranche Four [Member] | Senior Management [Member]                      
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage             25.00%        
2012 Stock Incentive Plan [Member] | Share-Based Payment Arrangement, Option [Member] | Non Employee Director [Member]                      
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)             1 year        
The 2018 Incentive Plan [Member]                      
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized (in shares) 5,000,000                    
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)         1 year            
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Additional Shares Authorized (in shares)         1,700,000            
The 2018 Incentive Plan [Member] | Stock Appreciation Rights and Restricted Stock Units [Member] | Minimum [Member]                      
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year) 6 years                    
The 2018 Incentive Plan [Member] | Stock Appreciation Rights and Restricted Stock Units [Member] | Maximum [Member]                      
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year) 10 years                    
The 2018 Incentive Plan [Member] | Stock Appreciation Rights and Restricted Stock Units [Member] | Share-Based Payment Arrangement, Tranche One [Member] | Director [Member]                      
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage 100.00%                    
The 2018 Incentive Plan [Member] | Stock Appreciation Rights and Restricted Stock Units [Member] | Share-Based Payment Arrangement, Tranche One [Member] | Employees [Member]                      
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage 50.00%                    
The 2018 Incentive Plan [Member] | Stock Appreciation Rights and Restricted Stock Units [Member] | Share-Based Payment Arrangement, Tranche Two [Member] | Employees [Member]                      
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage 25.00%                    
The 2018 Incentive Plan [Member] | Restricted Stock Units (RSUs) [Member]                      
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)           1 year          
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) [1]                 189,000 109,000 12,000
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)           $ 76.2     $ 0 [1] $ 0 [1] $ 0 [1]
The 2018 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 (in dollars per share)       $ 89              
Share-Based Compensation Arrangement by Share-Based Payment Award, Non-Option Equity Instruments, Granted (in shares)       19,750   11,804          
The 2018 Incentive Plan [Member] | Restricted Stock Units (RSUs) [Member] | Director [Member] | Minimum [Member]                      
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)       2 years              
The 2018 Incentive Plan [Member] | Restricted Stock Units (RSUs) [Member] | Director [Member] | Maximum [Member]                      
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)       3 years              
The 2018 Incentive Plan [Member] | Performance Stock Units (PSU) [Member]                      
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) [2]                 35,000 20,000 0
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) [2]                 $ 0 $ 0 $ 0
The 2018 Incentive Plan [Member] | Stock Appreciation Rights (SARs) [Member]                      
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) [3]                 0 513,000 15,000
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) [3]                 $ 0 $ 71.15 $ 77.22
The 2018 Incentive Compensation Plan [Member] | Restricted Stock Units (RSUs) [Member]                      
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)   1 year                  
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)   10,852 174,422         72,303      
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)   $ 82.9 $ 79.9             69.6  
The 2018 Incentive Compensation Plan [Member] | Restricted Stock Units (RSUs) [Member] | Minimum [Member]                      
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)     1 year                
The 2018 Incentive Compensation Plan [Member] | Restricted Stock Units (RSUs) [Member] | Maximum [Member]                      
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)     4 years                
The 2018 Incentive Compensation Plan [Member] | Performance Stock Units (PSU) [Member]                      
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)     35,081         19,581      
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)     $ 79.6             75.3  
The 2018 Incentive Compensation Plan [Member] | Stock Appreciation Rights (SARs) [Member]                      
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)               513,385      
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)                   $ 22.3  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Exercise Price (in dollars per share)               $ 71.15      
The 2018 Incentive Compensation Plan [Member] | Stock Appreciation Rights (SARs) [Member] | Minimum [Member]                      
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year)               6 years      
The 2018 Incentive Compensation Plan [Member] | Stock Appreciation Rights (SARs), Restricted Stock Units (RSUs), and Performance Stock Units (PSU) [Member] | Minimum [Member]                      
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)               2 years      
The 2018 Incentive Compensation Plan [Member] | Stock Appreciation Rights (SARs), Restricted Stock Units (RSUs), and Performance Stock Units (PSU) [Member] | Maximum [Member]                      
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)               4 years      
[1] An RSU represents the right to receive one share of common stock once certain vesting conditions are met. The value of an RSU is identical to the value of the underlying stock.
[2] The Performance shares units shall be paid out based on achievement of three-year relative total stockholder return compared to other companies in S&P 500 index.
[3] Upon exercise, SARs entitle the recipient to receive shares of common stock equal to the increase in value of the award between the grant date and the exercise date.