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


	Three Months Ended
	March 29,		March 31,
	2024		2023
2024 restructuring	$	548	$	—
2022 restructuring		—		2,197
2020 restructuring		—		274
Total restructuring charges		548		2,471
Acquisition and related charges		1,735		5
Total restructuring, acquisition, and related costs	$	2,283	$	2,476

As a result of the Company’s acquisitions and ongoing integration activities, the Company initiated the 2024 restructuring program in the first quarter of 2024 in order to reduce operating complexity. During the three months ended March 29, 2024, the Company recorded $0.5 million in severance, facility related, and other charges in connection with the 2024 restructuring program. As of March 29, 2024, the Company had incurred cumulative costs of $0.5 million related to this restructuring plan. The Company anticipates substantially completing the 2024 restructuring program by the end of 2024 and expects to incur additional restructuring charges of $4.5 million to $5.5 million related to the 2024 restructuring program.

The following table summarizes restructuring costs associated with the 2024 restructuring program by reportable segment (in thousands):


	Three Months Ended
	March 29,		March 31,
	2024		2023
Precision Medicine and Manufacturing	$	35	$	—
Medical Solutions		206		—
Robotics and Automation		244		—
Unallocated Corporate and Shared Services		63		—
Total	$	548	$	—

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 was 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 was focused on cost reduction actions to improve gross margins for the overall company. The Company did not incur any costs related to the 2022 restructuring plan during the three months ended March 29, 2024. As of December 31, 2023, the Company had incurred cumulative costs related to this restructuring program totaling $10.4 million. The 2022 restructuring program was completed in the fourth quarter of 2023.

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 was 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 was focused on cost reduction actions to improve gross margins for the overall company. The Company did not incur any costs related to the 2020 restructuring plan during the three months ended March 29, 2024. As of December 31, 2023, the Company had recorded an aggregate $16.7 million in severance, facilities related costs, and other costs in connection with the 2020 restructuring program. The 2020 restructuring program was completed in the fourth quarter of 2023.

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, 2023	$	2,850		$	1,038		$	1,680		$	132
Restructuring charges		548			440			64			44
Cash payments		(1,113	)		(495	)		(438	)		(180	)
Non-cash write-offs and other adjustments		(39	)		(10	)		(33	)		4
Balance at March 29, 2024	$	2,246		$	973		$	1,273		$	—

Acquisition costs in connection with business combinations, including finders’ fees, legal, valuation, and other professional or consulting fees, totaled $1.7 million for the three months ended March 29, 2024 and less than $0.1 million for the three months ended March 31, 2023. The majority of acquisition and related costs for the three months ended March 29, 2024 and the three months ended March 31, 2023 were included in the Company’s unallocated Corporate and Shared Services reportable segment.