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

	Year Ended December 31,
	2020			2019		2018
2020 restructuring	$	2,736		$	—	$	—
2019 restructuring		988			7,463		378
2018 restructuring		753			1,177	$	1,647
Total restructuring related charges	$	4,477		$	8,640	$	2,025
Acquisition and related charges		(667	)		7,934		6,016
Total restructuring and acquisition related costs	$	3,810		$	16,574	$	8,041

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. In 2020, the Company recorded $2.7 million in severance and other costs in connection with the 2020 restructuring program. The Company anticipates completing the 2020 restructuring program in the fourth quarter of 2021 and expects to incur additional restructuring charges of $4.0 million to $5.0 million related to the 2020 restructuring program in the next twelve months.

The following table summarizes restructuring costs associated with the 2020 restructuring program by reportable segment (in thousands):

	Year Ended		Cumulative Costs as of
	December 31, 2020		December 31, 2020
Photonics	$	740	$	740
Vision		1,330	$	1,330
Precision Motion		524	$	524
Unallocated Corporate and Shared Services		142	$	142
Total	$	2,736	$	2,736

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 2020, the Company recorded $0.1 million in severance and related costs, $0.5 million in facility related cost and $0.4 million of other costs in connection with the 2019 restructuring plan. The Company anticipates completing the 2019 restructuring program in the first quarter of 2021 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, 2020		December 31, 2019		December 31, 2018		December 31, 2020
Photonics	$	508	$	4,983	$	—	$	5,491
Vision		322		1,422		324		2,068
Precision Motion		139		590		—		729
Unallocated Corporate and Shared Services		19		468		54		541
Total	$	988	$	7,463	$	378	$	8,829

During the second quarter of 2018, the Company initiated a program to integrate manufacturing operations as a result of acquisition activities. In 2020, the Company recorded $0.8 million in severance and related costs in connection with the 2018 restructuring plan. The plan was completed in 2020.

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, 2020		December 31, 2019		December 31, 2018		December 31, 2020
Photonics	$	—	$	—	$	—	$	—
Vision		753		1,177		1,579		3,509
Precision Motion		—		—		—		—
Unallocated Corporate and Shared Services		—		—		68		68
Total	$	753	$	1,177	$	1,647	$	3,577

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, 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
Restructuring charges		4,477			3,506			503			468
Cash payments		(4,024	)		(3,229	)		(115	)		(680	)
Non-cash write-offs and other adjustments		(726	)		(584	)		(272	)		130
Balance at December 31, 2020	$	1,800		$	1,681		$	116		$	3

Acquisition related costs incurred in connection with business combinations, primarily including finders’ fees, legal, valuation and other professional or consulting fees, totaled $0.6 million, $5.3 million, and $1.4 million during 2020, 2019, and 2018, respectively. During 2020, the Company incurred $1.7 million in legal costs related to a dispute involving a company that was acquired in 2019. Acquisition related costs recognized under earn-out agreements in connection with acquisitions totaled ($3.0) million, $2.6 million, and $4.6 million during 2020, 2019, and 2018, respectively. The acquisition related costs for 2020 were ($3.3) million, $2.5 million, ($0.2) million and $0.4 million for Photonics, Vision, Precision Motion, and Unallocated Corporate and Shared Services reportable segments, respectively.