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

	Three Months Ended				Six Months Ended
	July 3,		June 28,		July 3,		June 28,
	2020		2019		2020		2019
2019 restructuring	$	30	$	1,965	$	599	$	2,932
2018 restructuring		668		169		754		438
Total restructuring charges		698		2,134		1,353		3,370
Acquisition and related charges		1,545		2,179		2,551		2,997
Total restructuring, acquisition, and related costs	$	2,243	$	4,313	$	3,904	$	6,367

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 six months ended July 3, 2020, the Company recorded $0.1 million in severance and related costs, $0.2 million in facility related costs, and other costs of $0.3 million in connection with the 2019 restructuring plan. As of July 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				Six Months Ended
	July 3,		June 28,		July 3,		June 28,
	2020		2019		2020		2019
Photonics	$	8	$	1,357	$	211	$	1,550
Vision		2		306		291		656
Precision Motion		14		147		78		194
Unallocated Corporate and Shared Services		6		155		19		532
Total	$	30	$	1,965	$	599	$	2,932

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 six months ended July 3, 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 July 3, 2020, the Company incurred cumulative costs related to this restructuring plan totaling $3.6 million. The 2018 restructuring program has been substantially completed.

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		1,353			820			222			311
Cash payments		(1,974	)		(1,542	)		(80	)		(352	)
Non-cash charges and other adjustments		(237	)		(237	)		—			—
Balance at July 3, 2020	$	1,215		$	1,029		$	142		$	44

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 six months ended July 3, 2020, respectively, and $1.4 million and $1.6 million for the three and six months ended June 28, 2019, respectively. During the three and six months ended July 3, 2020, we incurred $0.6 million in legal costs related to an arbitration demand in connection with a pre-acquisition contract dispute from a 2019 acquisition. Acquisition and related costs recognized under earn-out agreements in connection with acquisitions totaled $0.9 million and $1.8 million for the three and six months ended July 3, 2020, respectively, and $0.8 million and $1.4 million for the three and six months ended June 28, 2019, respectively. The majority of acquisition and related costs for the three and six months ended July 3, 2020 were included in the Company’s Precision Motion and Vision reportable segments. The majority of acquisition and related costs for the three and six months ended June 28, 2019 were included in the Company’s Precision Motion and Unallocated Corporate and Shared Services reportable segments.