Note 16 - Shareholders' Equity (Details Textual) - $ / shares shares in Millions	Sep. 30, 2023	Dec. 31, 2022	Feb. 26, 2021
Stock Authorized (in shares)	560.0
Common Stock, Shares Authorized (in shares)	500.0
Common Stock, Par or Stated Value Per Share (in dollars per share)	$ 0.01	$ 0.01	$ 0.01
Preferred Stock, Shares Authorized (in shares)	60.0
Preferred Stock, No Par Value (in dollars per share)	$ 0
Common Stock, Shares, Outstanding (in shares)	79.5	79.1
Treasury Stock, Common, Shares (in shares)	0.9	0.9
Series B Preferred Stock [Member]
Preferred Stock, No Par Value (in dollars per share)			$ 0
Preferred Stock, Shares Outstanding, Ending Balance (in shares)	1.0	1.0
Series C Preferred Stock [Member]
Preferred Stock, Shares Outstanding, Ending Balance (in shares)	1.1	1.1