Malcolm-Jamal Warner died. He was 54.

According to a source, the actor drowned while swimming on a family vacation in Costa Rica.

A Warner spokesperson did not immediately reply to PEOPLE’s request for comment.

Warner’s career started with his role as Theo Huxtable on The Cosby Show.

From 1984 to 1992, the actor portrayed Bill Cosby’s character, Heathcliff Huxtable, as his only son.

In 2023, Warner told PEOPLE of the sitcom, “I know I can speak for the entire cast when I say The Cosby Show is something that we are all still very proud of.”

“We share a unique experience that keeps us lovingly bonded no matter how much time goes between seeing or hearing from each other.”

Warner did, of course, address how the show’s history had changed in the wake of charges against Cosby, 88, who was convicted of sexual assault in 2018 but had the case overturned in 2021, only for five more women to accuse him of sexual assault.

“Regardless of how some people may feel about the show now, I’m still proud of the legacy and having been a part of such an iconic show that had such a profound impact on—first and foremost, Black culture—but also American culture,” Warner told CNN.

Following The Cosby Show, Warner went on to star in a number of popular television projects and films.

From 1996 to 2000, he and Eddie Griffin co-starred in the comedy Malcolm & Eddie. Warner was also well-known for his part as Alex Reed on Reed Between the Lines, where he appeared with Tracee Ellis Ross from 2011 to 2015.

Warner most recently appeared as Chuck Cooper in Major Crimes, Julius Rowe in Suits, and AJ Austin in The Resident.

His most recent credits included 9-1-1 and the Alert: Missing Persons Unit.

His most recent initiative was a podcast called Not All Hood, which he co-founded with two individuals to break down mental health hurdles in the Black community.

Last June, he created the podcast with cohosts Weusi Baraka and Candace Kelley, telling PEOPLE it was a place where he could be “most vulnerable.”

“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 me.

“When we talk about the Black community, we tend to speak of it as a monolith when the reality is there are so many different facets of the Black community, and we wanted to have a space where we can really explore, discuss, and acknowledge all of those different aspects,” he told me at the time.

Warner is survived by a wife and daughter, whose identities he chose to keep confidential.