Malcolm-Jamal Warner, an actor best known as The Cosby Show‘s Theo, has died, People reports. He was 54.

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Warner drowned on Sunday while swimming off the coast of Costa Rica during a family vacation; the official cause of death was asphyxia, ABC News reports. A rep for the actor tells TVLine they are not providing statements or confirming details at this time.

He played The Cosby Show‘s Theo from 1984 to 1992 and he was The Resident‘s Dr. AJ Austin in all six seasons of the Fox medical drama. His extensive resume includes roles on Here and Now, Malcom & Eddie, Jeremiah, Listen Up, Sherri, American Horror Story, Fresh Prince of Bel-Air, Reed Between the Lines, Major Crimes, Suits, The Wonder Years reboot, the TV movie The Tuskeegee Airmen and Ten Days in the Valley. He also voiced characters on The Magic School Bus, The Chicken Squad, Puppy Dog Pals and Static Shock.

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His more recent TV work included 9-1-1, The Irrational and Alert: Missing Persons Unit. He also hosted a podcast, Not All Hood, alongside co-hosts Weusi Baraka and Candace Kelley. “It’s been an interesting experience for me, because it’s a place where I feel safe enough to be able to be as vulnerable as I allow myself to be,” he told People when the podcast launched in May 2024.

In a statement, Fox — home of The Resident and Alert: Missing Persons Unit — said: “Everyone at Fox is heartbroken by the tragic loss of our friend and colleague, the extraordinary Malcolm-Jamal Warner. While his iconic roles – from comedic to dramatic – are unforgettable and timeless, Malcolm will be remembered most for his warmth, kind heart and the lasting impact he had on his friends, family and fans everywhere. Our thoughts and deepest condolences are with his family and loved ones.”

See more tributes from Warner’s co-stars and colleagues here.

Warner is survived by his wife and daughter.