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

	Year Ended December 31,
	2018		2017		2016
2019 restructuring	$	378	$	—	$	—
2018 restructuring		1,647		—		—
2016 restructuring		—		332		3,049
2011 restructuring		—		14		(79	)
Total restructuring and divestiture related charges	$	2,025	$	346	$	2,970
Acquisition and related charges		6,016		7,196		4,975
Total restructuring, acquisition and divestiture related costs	$	8,041	$	7,542	$	7,945

During the fourth quarter of 2018, the Company implemented a restructuring plan intended to realign operations, reduce costs, achieve operational efficiencies and focus resources on growth initiatives. In 2018, the Company recorded $0.4 million in severance and related costs in connection with the 2019 restructuring plan. These costs were primarily reported in the Vision reportable segment. The Company anticipates completing the 2019 restructuring program in 2019 and expects to incur restructuring charges of $2.0 million to $3.5 million related to the 2019 restructuring program in the next twelve months.

During the second quarter of 2018, the Company initiated a program to integrate manufacturing operations as a result of recent acquisition activities. In 2018, the Company recorded $1.6 million in severance and related costs in connection with the 2018 restructuring plan. The Company anticipates completing the 2018 restructuring program during the third quarter of 2019.

The following table summarizes restructuring costs incurred to date and the Company’s expected cumulative costs associated with the 2018 restructuring program (in thousands):

	Year Ended		Expected Cumulative Costs
	December 31, 2018		December 31, 2018
Photonics	$	—	$	—
Vision		1,579	$2,300 - $2,600
Precision Motion		—		—
Unallocated Corporate and Shared Services		68		$100
Total	$	1,647	$	$2,400 - $2,700

During the third quarter of 2015, the Company initiated the 2016 restructuring program, which included consolidating certain manufacturing operations to optimize facility footprint and better utilize resources, and reducing redundant costs due to productivity cost savings and business volume reductions. As of December 31, 2017, the Company incurred cumulative costs related to this restructuring plan totaling $6.5 million, net of the gain on the sale of the Chatsworth, California facility. The plan was completed in 2017.

The following table summarizes restructuring costs associated with the 2016 restructuring program for each segment and unallocated corporate costs (in thousands):

	Year Ended				Cumulative Costs as of
	December 31, 2017		December 31, 2016		December 31, 2017
Photonics	$	—	$	813	$	868
Vision		331		1,862		4,393
Precision Motion		—		106		939
Unallocated Corporate and Shared Services		1		268		329
Total	$	332	$	3,049	$	6,529

In November 2011, the Company announced a strategic initiative (“2011 restructuring”) which aimed to consolidate operations to reduce the Company’s cost structure and improve operational efficiency. In total, eleven facilities have been exited as part of the 2011 restructuring plan. The Company substantially completed the 2011 restructuring program in 2013. In March 2016, the Company sold its previously exited Laser Systems facility located in Orlando, Florida for cash at the net carrying value of $3.5 million. In December 2016, the lease agreement for the Company’s previously exited laser scanner business facility was terminated, which resulted in a benefit of $0.2 million.

The following table summarizes restructuring costs for each segment and unallocated corporate costs related to the 2011 restructuring plan (in thousands):

						Cumulative
	Year Ended December 31,					Costs as of
	2017		2016			December 31, 2017
Photonics	$	—	$	(188	)	$	1,751
Vision		—		—			48
Precision Motion		—		—			122
Unallocated Corporate and Shared Services		14		109			3,276
Total	$	14	$	(79	)	$	5,197

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			Severance			Facility			Other (a)
Balance at December 31, 2016	$	1,736		$	611		$	1,111		$	14
Restructuring charges		346			185			146			15
Cash payments		(1,212	)		(692	)		(503	)		(17	)
Non-cash write-offs and other adjustments		(64	)		(65	)		9			(8	)
Balance at December 31, 2017		806			39			763			4
Restructuring charges		2,025			1,862			—			163
Cash payments		(1,490	)		(962	)		(373	)		(155	)
Non-cash write-offs and other adjustments		(65	)		(63	)		(2	)		—
Balance at December 31, 2018	$	1,276		$	876		$	388		$	12

(a)

Other restructuring charges mainly related to consulting fees and relocation costs.

The Company expects to make $1.1 million in cash payments during the twelve months ending December 31, 2019.

Acquisition related costs incurred to effect business combinations, primarily including finders’ fees, legal, valuation and other professional or consulting fees, totaled $1.4 million, $6.8 million, and $2.5 million during 2018, 2017, and 2016, respectively. Acquisition related costs recognized under earn-out agreements in connection with acquisitions totaled $4.6 million, $0.4 million, and $2.5 million during 2018, 2017, and 2016, respectively. The majority of acquisition related costs for 2018 were included in the Company’s Precision Motion reportable segment.