Malcolm-Jamal Warner, who played Theodore Huxtable across all eight seasons of “The Cosby Show,” has died in an accidental drowning, People reports. He was 54.

According to the magazine, Warner was on a family vacation in Costa Rica and drowned while swimming.

Warner was nominated for the Emmy for best supporting actor in a comedy for his performance on the NBC sitcom, on which he played the only son of Bill Cosby’s character, Cliff Huxtable. Warner was a teenager throughout much of his tenure on the NBC sitcom.

After “The Cosby Show,” Warner played Malcolm McGee on the sitcom “Malcolm & Eddie,” which ran for four seasons on UPC. He starred opposite Eddie Griffin, who played the other title character. From 2011 to 2015, Warner led the BET sitcom “Reed Between the Lines,” and he also played Sticky on FX’s motorcycle drama “Sons of Anarchy.”

Born in New Jersey, Warner had an early interest in acting, causing his parents to enroll him in a performing arts school in New York City. He auditioned for the role of Theo Huxtable on the last day of NBC’s nationwide search, and he was selected by Cosby himself.

In his late teens, Warner began directing music videos for acts like New Edition and Special Ed. He then went on to helm episodes of “The Cosby Show,” “All That,” “Kenan & Kel” and “Malcolm & Eddie.” He also directed the widely circulated 1992 educational video “Time Out: The Truth About HIV, AIDS, and You,” which featured celebrities Arsenio Hall and Earvin “Magic” Johnson discussing the disease and how to prevent its spread.

Warner’s acting roles also included Showtime’s post-apocalyptic drama “Jeremiah,” USA’s “Suits” and guest spots on “The Fresh Prince of Bel-Air” and “Community.” He also lent his voice to the Producer character on “The Magic School Bus.”

Most recently, Warner launched a podcast with Weusi Baraka and Candace Kelley called “Not All Hood,” in which the co-hosts discussed Black masculinity, mental health and media representation.

Warner leaves behind his wife and daughter.