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Restructuring Costs (Tables) | 12 Months Ended
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Dec. 31, 2018
Restructuring and Related Activities [Abstract] |
Restructuring and Related Costs | The following table summarizes the activity to date related to these programs. The accrued restructuring liability balance as of December 31, 2018 and 2017, respectively, is included in other accrued expenses in the accompanying consolidated balance sheets (in thousands):
| December 31,
| 2018 |  | 2017 |  | 2016
Balance at beginning of year | $ | 254 |  |  | $ | 1,333 |  |  | $ | 2,827 |
Restructuring charges | 289 |  |  | 2,044 |  |  | 2,666 |
Cash payments | (384 | ) |  | (3,122 | ) |  | (4,152 | )
Foreign currency translation | — |  |  | (1 | ) |  | (8 | )
Balance at end of year | 159 |  |  | 254 |  |  | 1,333 |

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