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


	Three Months Ended				Six Months Ended
	June 30,		July 1,		June 30,		July 1,
	2023		2022		2023		2022
2022 restructuring	$	677	$	—	$	2,874	$	—
2020 restructuring		459		610		733		1,232
Total restructuring charges		1,136		610		3,607		1,232
Acquisition and related charges		98		2,045		103		(207	)
Total restructuring, acquisition, and related costs	$	1,234	$	2,655	$	3,710	$	1,025

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 in line with the Company's multi-year gross margin expansion program. During the three and six months ended June 30, 2023, the Company recorded $0.7 million and $2.9 million, respectively, in severance and other charges in connection with the 2022 restructuring program. As of June 30, 2023, the Company had incurred cumulative costs of $4.3 million related to this restructuring plan. The Company anticipates substantially completing the 2022 restructuring program by the end of 2023 and expects to incur additional restructuring charges of $1.5 million to $2.0 million related to the 2022 restructuring program.

The following table summarizes restructuring costs associated with the 2022 restructuring program by reportable segment (in thousands):


	Three Months Ended				Six Months Ended
	June 30,		July 1,		June 30,		July 1,
	2023		2022		2023		2022
Precision Medicine and Manufacturing	$	265	$	—	$	988	$	—
Medical Solutions		35		—		40		—
Robotics and Automation		266		—		1,536		—
Unallocated Corporate and Shared Services		111		—		310		—
Total	$	677	$	—	$	2,874	$	—

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 is focused on cost reduction actions that improve gross margins for the overall company. During the three and six months ended June 30, 2023, the Company recorded $0.5 million and $0.7 million respectively, in severance and other costs in connection with the 2020 restructuring program. As of June 30, 2023, the Company had incurred cumulative costs of $14.6 million related to this restructuring plan. The 2020 restructuring program is expected to be completed in 2023 and to incur additional restructuring charges of $0.5 million to $1.0 million.

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


	Three Months Ended				Six Months Ended
	June 30,		July 1,		June 30,		July 1,
	2023		2022		2023		2022
Precision Medicine and Manufacturing	$	301	$	501	$	507	$	1,194
Medical Solutions		—		65		—		106
Robotics and Automation		158		44		226		(68	)
Total	$	459	$	610	$	733	$	1,232

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


	Total			Employee Related			Facility Related			Other
Balance at December 31, 2022	$	2,410		$	1,902		$	452		$	56
Restructuring charges		3,607			2,587			244			776
Cash payments		(3,185	)		(2,136	)		(258	)		(791	)
Non-cash charges and other adjustments		55			36			19			—
Balance at June 30, 2023	$	2,887		$	2,389		$	457		$	41

Acquisition costs in connection with business combinations, including finders’ fees, legal, valuation, and other professional or consulting fees, totaled $0.1 million for both the three and six months ended June 30, 2023, and $0.2 million and $0.3 million for the three and six months ended July 1, 2022, respectively. During the three and six months ended July 1, 2022, the Company recognized $1.8 million and $(0.5) million, respectively, in earn-out expenses related to prior-year acquisitions. The majority of acquisition and related costs for the three and six months ended June 30, 2023 were included in the Company’s Unallocated Corporate and Shared Services reportable segment. The majority of acquisition and related costs for the three and six months ended July 1, 2022 were included in the Company’s Precision Medicine and Manufacturing, Robotics and Automation, and Unallocated Corporate and Shared Services reportable segments.