
	April 2, 2021		December 31, 2020
	(In thousands)
Accrued compensation and related benefits	$	85,509	$	98,455

Accrued taxes	52,031		57,286
Accrued asbestos-related liability	42,411		41,626
Warranty liability - current portion	15,799		15,543
Accrued restructuring liability - current portion	7,385		7,889
Accrued third-party commissions	26,990		25,480
Customer advances and billings in excess of costs incurred	40,051		36,737
Lease liability - current portion	37,791		39,695
Accrued interest	14,653		27,153
Other	101,678		104,469
Accrued liabilities	$	424,298	$	454,333


	Three Months Ended
	April 2, 2021		April 3, 2020
	(In thousands)
Warranty liability, beginning of period	$	15,543	$	15,528
Accrued warranty expense	2,042		1,121
Changes in estimates related to pre-existing warranties	589		318
Cost of warranty service work performed	(2,472)		(1,910)
Acquisition-related liability	321		—
Foreign exchange translation effect	(224)		(1,309)
Warranty liability, end of period	$	15,799	$	13,748

The Company’s restructuring programs include a series of actions to reduce the structural costs of the Company. A summary of the activity in the Company’s restructuring liability included in Accrued liabilities and Other liabilities in the Condensed Consolidated Balance Sheets is as follows:


	Three Months Ended April 2, 2021
	Balance at Beginning of Period		Provisions		Payments		Foreign Currency Translation		Balance at End of Period(3)
	(In thousands)
Restructuring and other related charges:
Fabrication Technology:
Termination benefits(1)	$	5,336	$	248	$	(559)	$	(13)	$	5,012
Facility closure costs(2)	591		2,827		(2,831)		(4)		583
	5,927		3,075		(3,390)		(17)		5,595
Non-cash charges(2)			—
			3,075
Medical Technology:
Termination benefits(1)	1,884		358		(736)		—		1,506
Facility closure costs(2)	297		613		(613)		—		297
	2,181		971		(1,349)		—		1,803
Non-cash charges(2)			—
			971



Total Colfax Corporation:
Total restructuring liability activity	$	8,108	$	4,046	$	(4,739)	$	(17)	$	7,398
Total Non-cash charges			—
			$	4,046

(2) Includes the cost of relocating associates, relocating equipment and lease termination expense in connection with the closure of facilities.

(3) As of April 2, 2021, $7.4 million of the Company’s restructuring liability was included in Accrued liabilities, whereas less than $0.1 million of the Company’s restructuring liability was included in Other liabilities.