Restructuring and Acquisition Related Costs (Tables)

12 Months Ended

Dec. 31, 2023

Restructuring and Related Activities [Abstract]

Schedule of Restructuring and Acquisition Related Costs

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

	Year Ended December 31,
	2023		2022			2021
2022 restructuring	$	8,961	$	1,414		$	—
2020 restructuring		2,853		2,994			8,133
2019 restructuring		—		—			208
Total restructuring related charges	$	11,814	$	4,408		$	8,341
Acquisition and related charges	$	1,000	$	(24	)	$	9,679
Total restructuring, acquisition and related costs	$	12,814	$	4,384		$	18,020

Summary of Restructuring Charges by Reportable Segment

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

	Year Ended December 31,				Cumulative Costs as of
	2023		2022		December 31, 2023
Precision Medicine and Manufacturing	$	1,899	$	1,162	$	3,061
Medical Solutions		1,188		56		1,244
Robotics and Automation		5,043		196		5,239
Unallocated Corporate and Shared Services		831		—		831
Total	$	8,961	$	1,414	$	10,375

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
	2023		2022		2021		December 31, 2023
Precision Medicine and Manufacturing	$	2,220	$	2,537	$	3,085	$	8,582
Medical Solutions		—		217		813		2,360
Robotics and Automation		633		238		4,206		5,601
Unallocated Corporate and Shared Services		—		2		29		173
Total	$	2,853	$	2,994	$	8,133	$	16,716

Summary of Accrual Activities by Components Related to Company's Restructuring Charges

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, 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
Restructuring charges		11,814			5,832			4,452			1,530
Cash payments		(8,867	)		(6,675	)		(1,379	)		(813	)
Non-cash write-offs and other adjustments (1)		(2,507	)		(21	)		(1,845	)		(641	)
Balance at December 31, 2023	$	2,850		$	1,038		$	1,680		$	132

(1) Non-cash write-offs and other adjustments included impairment of assets amounting to $2.5 million.