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Note 15 - Stock-based Compensation (Details Textual) - USD ($)
$ / shares in Units, $ in Millions
1 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
Nov. 30, 2021
May 31, 2012
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total                   $ 8.9    
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)                   1 year 2 months 12 days    
Share Based Compensation Arrangement By Share Based Payment Award Fair Value Assumptions Annual Forfeiture Rate                   11.10% 10.80% 10.70%
Increase (Decrease) In Stock Based Compensation Expense Due To Forfeitures, Percent                   2.80% 0.90% 101.90%
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                 $ 79.3 $ 90.28  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Exercisable, Number (in shares) 704,169                 881,393 704,169  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Intrinsic Value                   $ 6.1 $ 11.0  
Weighted Average [Member]                        
Share Price (in dollars per share) $ 69.2                 $ 78.4 $ 69.2  
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, Number of Shares Available for Grant (in shares)                   2,591,783    
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] | 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, Weighted Average Grant Date Fair Value (in dollars per share) $ 89.15 $ 67.13 $ 62.3 $ 68.0 $ 67.2     $ 76.2   $ 0 [1] $ 0 [1] $ 0 [1]
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         12,000 [1] 35,000 [1] 9,000 [1]
The 2018 Incentive Plan [Member] | Restricted Stock Units (RSUs) [Member] | Director [Member]                        
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Granted (in shares)               11,804        
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            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)   10,010       9,420            
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, Weighted Average Grant Date Fair Value (in dollars per share) $ 25.50 $ 18.25 $ 16.5 $ 18.0 $ 17.6         $ 77.22 [2] $ 68.82 [2] $ 69.13 [2]
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         15,000 [2] 957,000 [2] 38,000 [2]
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  
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, Weighted Average Grant Date Fair Value (in dollars per share)           $ 19.8            
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            
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, Weighted Average Grant Date Fair Value (in dollars per share) $ 96.10   $ 57.3 $ 65.0 $ 73.2         $ 0 [3] $ 0 [3] $ 0 [3]
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         0 [3] 25,000 [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] 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] 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.
[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.