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

	Three Months Ended				Nine Months Ended
	October 2,		September 27,		October 2,		September 27,
	2020		2019		2020		2019
2020 restructuring	$	1,006	$	—	$	1,006	$	—
2019 restructuring		68		1,115		667		4,047
2018 restructuring		—		351		754		789
Total restructuring charges		1,074		1,466		2,427		4,836
Acquisition and related charges		613		4,080		3,164		7,077
Total restructuring, acquisition, and related costs	$	1,687	$	5,546	$	5,591	$	11,913

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 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 will be focused on cost reduction actions that improve gross margins for the overall company. During the three months ended October 2, 2020, the Company recorded $1.0 million in severance and other costs in connection with the 2020 restructuring program. These costs were reported in the Vision reportable segment.

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 (the “2019 restructuring plan”). During the nine months ended October 2, 2020, the Company recorded $0.1 million in severance and related costs, $0.2 million in facility related costs, and $0.4 million of other costs in connection with the 2019 restructuring plan. As of October 2, 2020, the Company incurred cumulative costs related to this restructuring plan totaling $8.5 million. The 2019 restructuring program was substantially completed in the first quarter of 2020.

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

	Three Months Ended					Nine Months Ended
	October 2,		September 27,			October 2,		September 27,
	2020		2019			2020		2019
Photonics	$	25	$	475		$	236	$	2,025
Vision		13		367			304		1,023
Precision Motion		30		340			108		534
Unallocated Corporate and Shared Services		—		(67	)		19		465
Total	$	68	$	1,115		$	667	$	4,047

During the second quarter of 2018, the Company initiated a program to integrate manufacturing operations as a result of acquisition activities (the “2018 restructuring plan”). During the nine months ended October 2, 2020, the Company recorded $0.8 million in severance and other costs in connection with the 2018 restructuring plan. These costs were reported in the Vision reportable segment. As of October 2, 2020, the Company incurred cumulative costs related to this restructuring plan totaling $3.6 million. The 2018 restructuring program was substantially completed in the second quarter of 2020.

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			Severance			Facility			Other
Balance at December 31, 2019	$	2,073		$	1,988		$	—		$	85
Restructuring charges		2,427			1,786			223			418
Cash payments		(2,699	)		(2,195	)		(93	)		(411	)
Non-cash charges and other adjustments		(530	)		(459	)		(1	)		(70	)
Balance at October 2, 2020	$	1,271		$	1,120		$	129		$	22

Acquisition costs in connection with business combinations, including finders’ fees, legal, valuation, and other professional or consulting fees, totaled less than $0.1 million and $0.1 million for the three and nine months ended October 2, 2020, respectively, and $3.3 million and $4.9 million for the three and nine months ended September 27, 2019, respectively. During the three and nine months ended October 2, 2020, the Company incurred $0.4 million and $1.0 million, respectively, in legal costs related to a dispute involving a company that was acquired in 2019. Acquisition and related costs recognized under earn-out agreements in connection with acquisitions totaled $0.2 million and $2.0 million for the three and nine months ended October 2, 2020, respectively, and $0.8 million and $2.2 million for the three and nine months ended September 27, 2019, respectively. The majority of acquisition and related costs for the three and nine months ended October 2, 2020 were included in the Company’s Precision Motion and Vision reportable segments. The majority of acquisition and related costs for the three and nine months ended September 27, 2019 were included in the Company’s Precision Motion and Unallocated Corporate and Shared Services reportable segments.