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Note 15 - Stock-based Compensation (Details Textual) - USD ($)
$ / shares in Units, $ in Millions
1 Months Ended 3 Months Ended 12 Months Ended
Dec. 31, 2020
Nov. 03, 2020
Jul. 01, 2020
Jun. 15, 2020
May 12, 2020
Nov. 07, 2019
May 07, 2018
May 31, 2012
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total $ 18.0               $ 18.0     $ 18.0    
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)                       1 year 3 months 18 days    
Share Based Compensation Arrangement By Share Based Payment Award Fair Value Assumptions Annual Forfeiture Rate                 10.80% 10.70% 5.30%      
Increase (Decrease) In Stock Based Compensation Expense Due To Forfeitures, Percent                 0.70% 101.90% 381.80%      
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 Price (in dollars per share) $ 90.28               $ 90.28 $ 74.52   $ 90.28 $ 74.52  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Exercisable, Number (in shares) 704,169               704,169 479,402   704,169 479,402  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Intrinsic Value                       $ 11.0 $ 19.3  
Weighted Average [Member]                            
Share Price (in dollars per share) $ 69.2               $ 69.2 $ 65.04   $ 69.2 $ 65.04  
2012 Stock Incentive Plan [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant (in shares) 0               0     0    
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 Rights, Percentage               25.00%            
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, Number of Shares Available for Grant (in shares) 2,516,498               2,516,498     2,516,498    
The 2018 Incentive Plan [Member] | Stock Appreciation Rights and Restricted Stock Units [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, Expiration Period (Year)   6 years                        
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] | Stock Appreciation Rights (SARs) [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year) 6 years   6 years 6 years 6 years                  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) 573   45,365 852,475 46,795             957,000 [1] 38,000 [1] 1,172,000 [1]
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Exercise Price (in dollars per share) $ 90.28   $ 63.40 $ 69.14 $ 68.34       $ 90.28     $ 90.28    
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) $ 25.50 $ 18.25 $ 16.5 $ 18.0 $ 17.6             $ 68.82 [1] $ 69.13 [1] $ 53.87 [1]
The 2018 Incentive Plan [Member] | Stock Appreciation Rights (SARs) [Member] | Minimum [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) 2 years                          
The 2018 Incentive Plan [Member] | Stock Appreciation Rights (SARs) [Member] | Maximum [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) 4 years                          
The 2018 Incentive Plan [Member] | Stock Appreciation Rights (SARs) [Member] | Director [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year)           6 years                
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)   11,835       11,495                
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Exercise Price (in dollars per share)   $ 67.54       $ 76.87                
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)           $ 19.8                
The 2018 Incentive Plan [Member] | Restricted Stock Units (RSUs) [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) 2,103   6,020 11,068 6,142             35,000 [2] 9,000 [2] 74,000 [2]
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) $ 89.15 $ 67.13 $ 62.3 $ 68.0 $ 67.2             $ 0 [2] $ 0 [2] $ 0 [2]
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 (in shares)   10,010       9,420                
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)           $ 76.4                
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) 1,952   6,540 10,962 5,637             25,000 [3] 0 [3] 0 [3]
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) $ 96.10   $ 57.3 $ 65.0 $ 73.2             $ 0 [3] $ 0 [3] $ 0 [3]
The 2018 Incentive Plan [Member] | SARs, RSUs, and PSUs [Member] | Minimum [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)     2 years 2 years 2 years                  
The 2018 Incentive Plan [Member] | SARs, RSUs, and PSUs [Member] | Maximum [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)     4 years 4 years 4 years                  
The 2018 Incentive Plan [Member] | Stock Appreciation Rights, Expiratiopn Period 2 [Member]                            
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year)       5 months                    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)       1,156                    
[1] 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.
[2] 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.
[3] 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.