Are Lutherans comfortable with worshipping a consecrated host or do they consider it to be idolatry?

Lutherans believe in a real, physical presence of Christ in the Eucharist, similar to Catholics. However they also believe that the bread and wine remain as bread and wine even after consecration. Does this belief that the bread is still bread (despite also being God) prevent Lutherans from engaging in eucharistic adoration/worship out of fear of idolatry? If not, can you please provide some examples of situations in which Lutherans engage in such adoration? Does it happen during the liturgy? Does it happen outside the liturgy?