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

	Three Months Ended
	April 3,		March 29,
	2020		2019
2019 restructuring	$	569	$	967
2018 restructuring		86		269
Total restructuring charges		655		1,236
Acquisition and related charges		1,006		818
Total restructuring and acquisition related costs	$	1,661	$	2,054

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. During the three months ended April 3, 2020, the Company recorded $0.1 million in severance and related costs, $0.2 million in facility related costs, and other costs of $0.2 million in connection with the 2019 restructuring plan. As of April 3, 2020, the Company incurred cumulative costs related to this restructuring plan totaling $8.4 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
	April 3,		March 29,
	2020		2019
Photonics	$	203	$	193
Vision		289		350
Precision Motion		64		47
Unallocated Corporate and Shared Services		13		377
Total	$	569	$	967

During the second quarter of 2018, the Company initiated a program to integrate manufacturing operations as a result of acquisition activities. During the three months ended April 3, 2020, the Company recorded $0.1 million in severance and related costs in connection with the 2018 restructuring plan. These costs were reported in the Vision reportable segment. As of April 3, 2020, the Company incurred cumulative costs related to this restructuring plan totaling $2.9 million. The 2018 restructuring program was substantially completed in the first 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		655			212			221			222
Cash payments		(1,356	)		(987	)		(66	)		(303	)
Non-cash write-offs and other adjustments		(1	)		(1	)		—			—
Balance at April 3, 2020	$	1,371		$	1,212		$	155		$	4

Acquisition related costs in connection with business combinations, including finders’ fees, legal, valuation, and other professional or consulting fees, totaled $0.1 million and $0.3 million for the three months ended April 3, 2020 and March 29, 2019, respectively. Acquisition related costs recognized under earn-out agreements in connection with acquisitions totaled $0.9 million and $0.5 million for the three months ended April 3, 2020 and March 29, 2019, respectively. The majority of acquisition related costs for the three months ended April 3, 2020 and March 29, 2019 were included in the Company’s Precision Motion and Unallocated Corporate and Shared Services reportable segments.