The following table summarizes restructuring and acquisition related costs recorded in the accompanying consolidated statements of operations (in thousands):


	Year Ended December 31,
	2022			2021		2020
2022 restructuring	$	1,414		$	—	$	—
2020 restructuring		2,994			8,133		2,736
2019 restructuring		—			208		988
2018 restructuring		—			—		753
Total restructuring related charges	$	4,408		$	8,341	$	4,477
Acquisition and related charges	$	(24	)	$	9,679	$	(667	)
Total restructuring and acquisition related costs	$	4,384		$	18,020	$	3,810

As a result of the Company’s ongoing evaluations and efforts to reduce its operating costs, while improving efficiency and effectiveness, the Company initiated the 2022 restructuring program in the third quarter of 2022. This program is focused on reducing operating complexity in the Company, including reducing infrastructure costs and streamlining the Company’s operating model to better serve its customers. In addition, the program is focused on cost reduction actions that improve gross margins for the overall company. During the year ended December 31, 2022, the Company recorded $1.4 million in severance and facilities related costs in connection with the 2022 restructuring program. As of December 31, 2022, the Company had incurred cumulative costs related to this restructuring program totaling $1.4 million. The Company anticipates substantially completing the 2022 restructuring program in the fourth quarter of 2023 and expects to incur additional restructuring charges of $4.0 million to $4.5 million related to the 2022 restructuring program.

As a result of the Company’s ongoing evaluations and efforts to reduce its operating costs, while improving efficiency and effectiveness, the Company initiated the 2020 restructuring program in the third quarter of 2020. This program is focused on reducing operating complexity in the Company, including reducing infrastructure costs and streamlining the Company’s operating model to better serve its customers. In addition, the program has been focused on cost reduction actions that improve gross margins for the overall company. During the year ended December 31, 2022, the Company recorded $3.0 million in severance, facilities related costs, and other costs in connection with the 2020 restructuring program. As of December 31, 2022, the Company had recorded an aggregate $13.9 million in severance, facilities related costs, and other costs in connection with the 2020 restructuring program. The Company anticipates substantially completing the 2020 restructuring program in the first quarter of 2023 and expects to incur additional restructuring charges of $0.5 million to $1.0 million related to the 2020 restructuring program.

The following table summarizes restructuring costs associated with the 2020 restructuring program by reportable segment (in thousands):


	Year Ended December 31,						Cumulative Costs as of
	2022		2021		2020		December 31, 2022
Photonics	$	2,537	$	3,085	$	740	$	6,362
Vision		217		813		1,330		2,360
Precision Motion		238		4,206		524		4,968
Unallocated Corporate and Shared Services		2		29		142		173
Total	$	2,994	$	8,133	$	2,736	$	13,863

The following table summarizes the accrual activities, by component, related to the Company’s restructuring charges recorded in the accompanying consolidated balance sheets (in thousands):


	Total			Employee Related			Facility Related			Other
Balance at December 31, 2020	$	1,800		$	1,681		$	116		$	3
Restructuring charges		8,341			6,462			1,309			570
Cash payments		(3,727	)		(2,898	)		(226	)		(603	)
Non-cash write-offs and other adjustments (1)		(3,728	)		(3,138	)		(649	)		59
Balance at December 31, 2021		2,686			2,107			550			29
Restructuring charges		4,408			2,029			1,995			384
Cash payments		(3,486	)		(2,198	)		(931	)		(357	)
Non-cash write-offs and other adjustments		(1,198	)		(36	)		(1,162	)		—
Balance at December 31, 2022	$	2,410		$	1,902		$	452		$	56

(1)

Non-cash charges included stock-based compensation charges amounting to $3.0 million associated with severance agreements for certain employees.

Acquisition and related costs incurred in connection with business combinations, primarily including finders’ fees, legal, valuation and other professional or consulting fees, totaled $1.4 million, $5.9 million, and $0.6 million during 2022, 2021, and 2020, respectively. The Company incurred legal costs of zero, $1.9 million and $1.7 million during 2022, 2021 and 2020, respectively, related to a dispute involving a company that was acquired in 2019. Acquisition related costs/(income) recognized under earn-out agreements in connection with acquisitions totaled $(1.4) million, $1.9 million, and $(3.0) million during 2022, 2021, and 2020, respectively. The acquisition related costs/(income) for 2022 were $(2.7) million, $0.1 million, $1.3 million and $1.3 million for Photonics, Vision, Precision Motion, and Unallocated Corporate and Shared Services reportable segments, respectively.