Note 17 - Compensation Plans (Tables)

12 Months Ended

Dec. 31, 2022

Notes Tables

Share-Based Payment Arrangement, Option, Activity [Table Text Block]

	Stock Option							Restricted Stock					PSU
											Weighted						Weighted
				Weighted							Average						Average
				Average		Aggregate					Grant Date						Grant Date
	Number			Exercise		Intrinsic		Number			Fair Value		Number				Fair Value
	of Options			Price		Value		of Shares			Per Share		of Shares				Per Share
						(in millions)
Outstanding at January 1, 2020		6,432,814		$	79.51	$	449.2		428,729		$	107.96		93,960			$	158.50
Granted		936,843		$	159.28				163,441		$	159.96		50,736			$	192.93
Dividend reinvestment		—		$	—				—		$	—		913				N/A
Exercised or lapsed		(1,623,740	)	$	56.83	$	189.8		(178,317	)	$	102.00		—			$	—
Canceled, expired or forfeited		(134,140	)	$	125.95				(23,799	)	$	124.40		—			$	—
Outstanding at December 31, 2020		5,611,777		$	98.28	$	613.4		390,054		$	131.63		145,609			$	170.75
Granted		750,822		$	189.29				162,378		$	189.23		59,144			$	210.07
Dividend reinvestment		—		$	—				—		$	—		980				N/A
Exercised or lapsed		(1,146,422	)	$	73.30	$	147.6		(173,726	)	$	120.94		(42,610	)		$	140.70
Canceled, expired or forfeited		(149,079	)	$	155.40				(27,202	)	$	157.79		—			$	—
Outstanding at December 31, 2021		5,067,098		$	115.73	$	572.6		351,504		$	161.33		163,123			$	192.99
Granted		653,802		$	196.64				201,617		$	193.33		111,333			$	168.63
Dividend reinvestment		—		$	—				—		$	—		1,371				N/A
Exercised or lapsed		(1,435,673	)	$	92.38	$	129.1		(205,407	)	$	157.22		(54,927	)		$	174.42
Canceled, expired or forfeited		(261,411	)	$	181.48				(40,139	)	$	182.35		(21,406	)		$	202.55
Outstanding at December 31, 2022		4,023,816		$	132.90	$	193.3		307,575		$	182.07		199,494			$	195.34
Exercisable at December 31, 2022		2,702,075		$	110.02	$	182.6
Exercisable at December 31, 2021		3,173,592		$	89.14	$	443.0
Nonvested at December 31, 2022		1,321,741							307,575					199,494
Expected to vest at December 31, 2022		1,107,594							273,646					73,775		(1)

Schedule of Share-Based Payment Award, Stock Options, Valuation Assumptions [Table Text Block]

	2022			2021			2020
Expected volatility		25.33	%		23.66	%		18.48	%
Risk-free interest rate		1.55	%		0.39	%		1.51	%
Expected term in years		4.2			4.3			4.3
Dividend yield		0.60	%		0.63	%		0.71	%
Weighted average grant date fair value per stock option	$	42.25		$	35.15		$	25.87

Schedule of Nonvested Share Activity [Table Text Block]

	Number of Options			Weighted Average Grant-Date Fair Value Per Share
Nonvested balance at January 1, 2020		2,256,959		$	20.17
Granted		936,843		$	25.87
Vested		(942,049	)	$	18.30
Cancelled or expired		(134,140	)	$	22.40
Nonvested balance at December 31, 2020		2,117,613		$	23.39
Granted		750,822		$	35.15
Vested		(825,850	)	$	21.62
Cancelled or expired		(149,079	)	$	27.54
Nonvested balance at December 31, 2021		1,893,506		$	28.49
Granted		653,802		$	42.25
Vested		(964,156	)	$	22.97
Cancelled or expired		(261,411	)	$	35.23
Nonvested balance at December 31, 2022		1,321,741		$	34.65