Malcolm-Jamal Warner, most known for his role as Theo Huxtable on The Cosby Show, died on Sunday at 54 during a family vacation in Costa Rica.

Warner was swimming at a beach in Cocles de Limón when a current pulled him into deeper waters, and he drowned, Costa Rica’s Judicial Investigation Department stated, per CBS News.

“He was rescued by people on the beach,” according to an initial report, but first responders were unable to revive him.

The Costa Rican National Police reported asphyxia as the official cause of death, ABC News reported.

Warner is most known for playing Theo on “The Cosby Show,” a sitcom that aired from 1984-1992 and centered around the Huxtables, an upper-middle-class black American family living in Brooklyn, New York. He was nominated for an Emmy in 1986 for his role as supporting actor in the series.

The show’s reputation was tainted after Bill Cosby, who played Cliff Huxtable, the father, and also co-produced the show, was charged with multiple counts of sexual assault.

Despite this, Warner told People in 2023 that he is still proud of his work: “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 said.

Speaking of his fellow cast members, he said that “We share a unique experience that keeps us lovingly bonded no matter how much time goes between seeing or hearing from each other.”

Warner paired up with comedian Eddie Griffin to produce his own sitcom “Malcolm and Eddie,” which lasted from 1996 to 2000. More recently, he starred as Chuck Cooper in “Major Crimes,” as Julius Rowe in “Suits,” and as AJ Austin in “The Resident.”

His latest venture was a podcast he launched in 2024 alongside cohosts Weusi Baraka and Candace Kelley titled Not All Hood, discussing cultural trends and issues relevant to Black Americans.

“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.

Fans are paying tribute on social media. “That man gave us one of the greatest scenes in the history of television. I cannot even believe this. I am over here SOBBING! Rest in poetry, Malcolm Jamal Warner,” one X user posted.

“RIP to the great Malcolm Jamal Warner, my generation grew up on him,” another said.

Warner is survived by his wife and daughter.