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Note 14 - Commitments | 12 Months Ended
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Dec. 31, 2018
Notes to Financial Statements |
Commitments and Contingencies Disclosure [Text Block] | Note 1 4 – Commitments The Company leases property from third parties. The Company leases three of its U.S. facilities with terms expiring at various times from 2019 to 2022. The Company also leases office space in the United Kingdom, France, Germany, Sweden and Italy with terms expiring at various times from 2019 to 2025. The Company leases an office and manufacturing space in Japan, and the initial term expires in April 2023. The Company also leases manufacturing space in Germany with terms expiring at various times from 2019 to 2028. Future minimum commitments under non-cancelable leases at December 31, 2018, are as follows:
|  | Operating Leases |
(in thousands) |  |  |  |
Years Ending December 31, |  |  |  |
2019 |  | $ | 3,411 |
2020 |  |  | 2,612 |
2021 |  |  | 2,266 |
2022 |  |  | 2,211 |
2023 |  |  | 975 |
After 2023 |  |  | 2,142 |
Total future minimum lease payments |  | $ | 13,617 |
Rental expense was approximately $4.2 million, $3.0 million and $3.6 million for the years ended December 31, 2018, 2017 and 2016, respectively.

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