Restructuring and Other	12 Months Ended
Dec. 31, 2019
Restructuring and Other	O. RESTRUCTURING AND OTHER During the year ended December 31, 2019, Teradyne recorded a gain of $ 22.2 million for the decrease in the fair value of the MiR contingent consideration liability , parti a lly o ffset by a $3.0 million increase in the fair value of the AutoGuide contingent consideration liability , $2.9 million of severance charges related to headcount reductions primarily in Semiconductor Test and Industrial Automation, and $2.5 million for acquisition related expenses and compensation . During the year ended December 31, 2018, Teradyne recorded an expense of $17.7 million for the increase in the fair value of the MiR contingent consideration liability, $8.7 million of severance charges related to headcount reductions primarily in Semiconductor Test, and $4.5 million for acquisition related expenses and compensation, partially offset by a gain of $ 16.7 million for the decrease in the fair value of the Universal Robots contingent consideration liability. During the year ended December 31, 2017, Teradyne recorded an expense of $7.8 million for the increase in the fair value of the Universal Robots contingent consideration liability, $3.8 million of severance charges related to headcount reductions primarily in Semiconductor Test, $1.1 million for an impairment of fixed assets in Semiconductor Test, $1.0 million for a lease impairment of a Wireless Test facility in Sunnyvale, CA, which was terminated in September 2017, and $0.8 million of expenses related to an earthquake in Kumamoto, Japan, partially offset by $5.1 million of property insurance recovery related to the Japan earthquake.

Restructuring and Other

12 Months Ended

Dec. 31, 2019

O. RESTRUCTURING AND OTHER

During the year ended December 31, 2019, Teradyne recorded

a gain

of $

22.2

million

for the

decrease

in the fair value of the MiR contingent consideration liability

, parti

lly o

ffset by

$3.0 million

increase in the fair value

of the

AutoGuide contingent consideration

liability

$2.9 million

of severance charges related to headcount reductions primarily in Semiconductor Test and

Industrial Automation, and $2.5

million for acquisition related expenses and compensation

During the year ended December 31, 2018, Teradyne recorded an expense of $17.7 million for the increase in the fair value of the MiR contingent consideration liability, $8.7 million of severance charges related to headcount reductions primarily in Semiconductor Test, and $4.5 million for acquisition related expenses and compensation, partially offset by a gain of $

16.7

million for the decrease in the fair value of the Universal Robots contingent consideration liability.

During the year ended December 31, 2017, Teradyne recorded an expense of $7.8 million for the increase in the fair value of the Universal Robots contingent consideration liability, $3.8 million of severance charges related to headcount reductions primarily in Semiconductor Test, $1.1 million for an impairment of fixed assets in Semiconductor Test, $1.0 million for a lease impairment of a Wireless Test facility in Sunnyvale, CA, which was terminated in September 2017, and $0.8 million of expenses related to an earthquake in Kumamoto, Japan, partially offset by $5.1 million of property insurance recovery related to the Japan earthquake.