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

	Year Ended December 31,
	2019		2018		2017
2019 restructuring	$	7,463	$	378	$	—
2018 restructuring		1,177		1,647		—
2016 restructuring		—		—		332
2011 restructuring		—		—		14
Total restructuring related charges	$	8,640	$	2,025	$	346
Acquisition and related charges		7,934		6,016		7,196
Total restructuring and acquisition related costs	$	16,574	$	8,041	$	7,542

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 2019, the Company recorded $3.8 million in severance and related costs, $2.6 million in impairment of operating lease right-of-use assets and $1.1 million in impairment of long-lived assets in connection with the 2019 restructuring plan. The Company anticipates completing the 2019 restructuring program in the first quarter of 2020 and expects to incur additional restructuring charges of $0.1 million to $0.2 million related to the 2019 restructuring program in the next twelve months.

The following table summarizes restructuring costs associated with the 2019 restructuring program by reportable segment (in thousands):

	Year Ended				Cumulative Costs as of
	December 31, 2019		December 31, 2018		December 31, 2019
Photonics	$	4,983	$	—	$	4,983
Vision		1,422		324		1,746
Precision Motion		590		—		590
Unallocated Corporate and Shared Services		468		54		522
Total	$	7,463	$	378	$	7,841

During the second quarter of 2018, the Company initiated a program to integrate manufacturing operations as a result of acquisition activities. In 2019, the Company recorded $1.2 million in severance and related costs in connection with the 2018 restructuring plan. The Company anticipates completing the 2018 restructuring program during the first quarter of 2020 and expects to incur additional restructuring charges of $0.1 million to $0.2 million related to the 2018 restructuring program.

The following table summarizes restructuring costs associated with the 2018 restructuring program by reportable segment (in thousands):

	Year Ended				Cumulative Costs as of
	December 31, 2019		December 31, 2018		December 31, 2019
Photonics	$	—	$	—	$	—
Vision		1,177		1,579		2,756
Precision Motion		—		—		—
Unallocated Corporate and Shared Services		—		68		68
Total	$	1,177	$	1,647	$	2,824

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 by reportable segment (in thousands):

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

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 ⁽¹⁾
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
Restructuring charges		8,640			4,065			3,798			777
Cash payments		(3,507	)		(2,803	)		—			(704	)
Reclassification of reserves ⁽²⁾		(388	)		—			(388	)		—
Non-cash write-offs and other adjustments ⁽³⁾		(3,948	)		(150	)		(3,798	)		—
Balance at December 31, 2019	$	2,073		$	1,988		$	—		$	85

The Company expects to make $2.0 million in cash payments related to these restructuring plans during the twelve months ending December 31, 2020.

Acquisition related costs incurred in connection with business combinations, primarily including finders’ fees, legal, valuation and other professional or consulting fees, totaled $5.3 million, $1.4 million, and $6.8 million during 2019, 2018, and 2017, respectively. Acquisition related costs recognized under earn-out agreements in connection with acquisitions totaled $2.6 million,

$4.6 million, and $0.4 million during 2019, 2018, and 2017, respectively. The majority of acquisition related costs for 2019 were included in the Company’s Precision Motion and Unallocated Corporate and Shared Services reportable segments.