Actor Malcolm-Jamal Warner, made famous for his role as Theo Huxtable, died on Sunday after an accidental drowning while on a family vacation in Costa Rica. He was 54 years old.

Warner was swimming in the Caribbean Sea off of Playa Cocles beach when a current pulled him deep into the sea, the Associated Press reported. His body was pulled from the water by bystanders on the beach, and first responders tried to save him, according to multiple reports.